0

Full Content is available to subscribers

Subscribe/Learn More  >

A Heart Stabilization Device Exploiting Gyroscopic Actuation: Design and Control

[+] Author Affiliations
Julien Gagne, Olivier Piccin

INSA Strasbourg, Strasbourg, France

Édouard Laroche, Jacques Gangloff

University of Strasbourg, Strasbourg, France

Paper No. DETC2010-28843, pp. 145-154; 10 pages
doi:10.1115/DETC2010-28843
From:
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4410-6 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME

abstract

The heart motion is the main hindrance to the development of recent less invasive surgical techniques in the cardiac field. The problem can be partially solved by maintaining the intervention area with stabilizers but the remaining displacements are still important. We propose a device able to exert a torque on the stabilizer in order to compensate for heart action in real time. The system is based on gyroscopic actuation associated with acceleration sensing which allows to free from grounding constraints. In this paper we present first the system architecture and its mechanical model. We describe afterward the prototype design and the experimental setup. Then we detail the control strategy which includes a Kalman filter dedicated to the observation of both the state and the disturbance signals. Several control laws are compared based on disturbance compensation and static feedforward, taking into account gyroscopic actuation specificities. Finally these controls are tested in simulation on a more detailed model.

Copyright © 2010 by ASME
Topics: Design

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In