Exploitation de l'effet gyroscopique pour la stabilisation active de l'épicarde

The proposed system allows to compensate for heart motion in real time, allowing the surgeon to operate on a stand area of the heart. The device takes advantage of the gyroscopic effect for actuation and an accelerometer for measurement. This combination allows to design a system independent from the object to stabilize, without any link to the ground. The adaptive control scheme allows to compensate for heart beats with varying frequency and amplitude. A prototype has been constructed and tested in vivo. Results highlighted the efficiency of the principle. Mots clefs : Robotique chirurgicale ; compensation de mouvement ; actionnement gyroscopique

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