Cardiolock: An active cardiac stabilizer. First<b><i>in vivo</i></b>experiments using a new robotized device

Bachta, Wael; Renaud, Pierre; Laroche, Édouard; Forgione, Antonello; Gangloff, Jacques

doi:10.3109/10929080802413129

Cited by 26 publications

(17 citation statements)

References 18 publications

(19 reference statements)

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“…From a mechanical point of view, one can easily understand that the forces developed by the heart, in the order of 5 N (Bachta et al, 2008), cause the deformation of the mechanism. The current commercial device (Fig.…”

Section: Active Stabilization For Cardiac Surgerymentioning

confidence: 99%

“…The stabilization task consists of compensating, in the presence of the heart force, for displacements in the order of 1 mm (Bachta et al, 2008). The main source of displacement of the stabilizer tip is the bending of the shaft.…”

Section: Design Requirementsmentioning

confidence: 99%

“…The displacement along the shaft axis is not significant. Forces exerted by the heart on the stabilizer have been assessed experimentally (Bachta et al, 2008). The amplitude of the force is in the order of 5 N in the direction perpendicular to the stabilizer shaft.…”

Section: Design Requirementsmentioning

confidence: 99%

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Compliant mechanisms for an active cardiac stabilizer: lessons and new requirements in the design of a novel surgical tool

et al. 2011

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Abstract. In this paper, three aspects of the use of compliant mechanisms for a new surgical tool, an active cardiac stabilizer, are outlined. First, the interest of compliant mechanisms in the design of the stabilizer is demonstrated with in vivo experimental evaluation of the efficiency of a prototype. We then show that the specific surgical constraints lead to the development of compliant mechanisms, with the design of new original mechanical amplifiers. Finally, the requirements in the design of stabilizers exhibiting a higher level of integration are outlined. Novel architectures and design procedures are actually needed, and we introduce an exploratory study with a proof-of-concept designed using the combination of ant colony optimization and classical pseudo rigid body modeling. Relative errors in the estimation of the displacement do not exceed 5 %. The proposed design method constitutes an interesting approach that may be applied more generally to the design of compliant mechanisms.

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Section: Active Stabilization For Cardiac Surgerymentioning

confidence: 99%

Section: Design Requirementsmentioning

confidence: 99%

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Compliant mechanisms for an active cardiac stabilizer: lessons and new requirements in the design of a novel surgical tool

et al. 2011

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“…The task is not easy, because of the heart dynamics, with an acceleration of the free surface that can reach 1g [22], and because of the large forces that can be exerted by the heart. Using physiological similarity models, as proposed in [5], and in vivo experimental data acquired on pigs [6], we can expect the force of the human heart on the stabilizer to be approximately equal to 7N, taking into account respiratory and heartbeat motions.…”

Section: Introductionmentioning

confidence: 99%

Cardiolock2: Parallel singularities for the design of an active heart stabilizer

Bachta¹,

Renaud²,

Laroche³

et al. 2009

2009 IEEE International Conference on Robotics and Automation

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In this paper, the design of a new active cardiac stabilizer, Cardiolock2, is presented. Following the proof of concept Cardiolock [7], this device allows an active stabilization of the surface of a beating heart in two directions, which is considered sufficient for a complete stabilization. Piezoelectric actuation is combined with a compliant architecture to obtain high dynamics and accuracy. A remote center of motion is obtained with a serial architecture, and parallel mechanisms in configurations close to singularity are used to increase the workspace. A kinematic analysis is first presented, before detailing the main properties of the device and the current development of the prototype.

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“…It usually requires the use of a heart-lung machine to ease the task, with possible side-effects for the patient. A solution is to perform grafting procedures on the surface of a beating heart, its surface being locally immobilized with a so-called active cardiac stabilizer [30]. It is an active compliant mechanism controlled by vision that detects any heart displacement and suppresses it by modifying the position of a shaft applied on the heart.…”

Section: The Design Problemmentioning

confidence: 99%

Using Singularities of Parallel Manipulators to Enhance the Rigid-Body Replacement Design Method of Compliant Mechanisms

Rubbert

Caro

Gangloff

et al. 2014

Journal of Mechanical Design

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The rigid-body replacement method is often used when designing a compliant mechanism. The stiffness of the compliant mechanism, one of its main properties, is then highly dependent on the initial choice of a rigid-body architecture. In this paper, we propose to enhance the efficiency of the synthesis method by focusing on the architecture selection. This selection is done by considering the required mobilities and parallel manipulators in singularity to achieve them. Kinematic singularities of parallel structures are indeed advantageously used to propose compliant mechanisms with interesting stiffness properties. The approach is first illustrated by an example, the design of a one degree of freedom compliant architecture. Then the method is used to design a medical device where a compliant mechanism with three degrees of freedom is needed. The interest of the approach is outlined after application of the method. IntroductionCompliant mechanisms are monolithic structures taking advantage of elasticity to produce movements. The absence of backlash and friction allows the production of very accurate movements making them suitable for medical devices [1-3], micropositioning [4,5] and space applications [6]. One challenge is to design compliant mechanisms with multiple degrees of freedom that have adequate stiffness performances, i.e. that demonstrate low stiffnesses along the desired degrees of freedom (DOF), high stiffnesses in the other directions, and that fulfill other design criteria such as compactness. There are different ways to design compliant mechanisms. The most common synthesis approaches, described in [7], are the kinematic-based approaches, the building blocks approaches and the structural optimizationbased approaches. Among the kinematic-based approaches, the FACT method does not require knowledge of existing

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Cardiolock: An active cardiac stabilizer. Firstin vivoexperiments using a new robotized device

Cited by 26 publications

References 18 publications

Compliant mechanisms for an active cardiac stabilizer: lessons and new requirements in the design of a novel surgical tool

Compliant mechanisms for an active cardiac stabilizer: lessons and new requirements in the design of a novel surgical tool

Cardiolock2: Parallel singularities for the design of an active heart stabilizer

Using Singularities of Parallel Manipulators to Enhance the Rigid-Body Replacement Design Method of Compliant Mechanisms

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