GyroLock – First In Vivo Experiments of Active Heart Stabilization Using Control Moment Gyro (CMG)

摘要：

Active heart stabilization can help the development of less invasive surgical techniques in the cardiac field. The GyroLock device we propose insures this function using Control Moment Gyro (CMG) actuation, which avoids linkage to the environment. This system is completely independent and pluggable on commercial instruments. For control we use an adaptive algorithm featuring harmonic disturbance cancellation. The first in vivo experiments of the GyroLock using the adaptive control are presented and the results based on two sensor technologies are compared. They exhibit a displacement reduction of more than 90％ for cardiac harmonics.

作者: Julien Gagne Olivier Piccin (E)douard Laroche Michele Diana Jacques Gangloff

作者单位: University of Strasbourg,P(o)le API,bd. S(e)bastien Brant,BP 10413,67412 Illkirch CEDEX,FRANCE Insti University of Strasbourg,P(o)le API,bd. S(e)bastien Brant,BP 10413,67412 Illkirch CEDEX,FRANCE IRCAD/EITS,H(o)pitaux Universitaires,1 place de lH(o)pital,67091 Strasbourg Cedex,FRANCE

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 404-410

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）