Active heart stabilization using adaptive noise cancelling techniques with gyroscopic actuation

Active cardiac stabilization contributes to the development of less invasive surgical techniques in the cardiac field. We propose a device insuring this function by using the gyroscopic effect to generate the compensation torque. This solution avoids any linkage to the environment and allows to design a completely independant system, pluggable on commercial instruments. After presenting the principle and the design aspects, we focus on an adaptive approach for the control and how it can be combined with frequency estimation in order to cope with variable heart frequency. Finally we present experimental results highlighting the efficiency of the method with a 70% reduction of the displacements and a highly accurate cardiac frequency tracking.