An active cardiac stabilizer based on gyroscopic effect

Active cardiac stabilization has a role to play in the development of minimally invasive techniques for beating heart surgery. We propose here a new active cardiac stabilization device based on gyroscopic actuation. This system allows to compensate for heart motion in high frequencies and is fully independent and pluggable on conventional stabilizers. The mechanical model and design are described. The system is controlled thanks to static state feedback, taking into account gyroscope specificities. Experiments results are presented. They highlight the effectiveness of this solution with a 48% reduction of the RMS excursion.