ICRA 2011 Paper Abstract


Paper TuA113.4

Gagne, Julien (LSIIT-INSA), Piccin, Olivier (INSA), Laroche, Edouard (University of Strasbourg), Diana, Michele (IRCAD/EITS), Gangloff, Jacques (University of Strasbourg)

GyroLock - First in Vivo Experiments of Active Heart Stabilization Using Control Moment Gyro (CMG)

Scheduled for presentation during the Regular Sessions "Medical Robots and Systems I" (TuA113), Tuesday, May 10, 2011, 09:05−09:20, Room 5I

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Medical Robots and Systems


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 independant 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.



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