A cardiac motion compensation device based on gyroscopic effect

The difficulties encountered in preventing the cardiac motion is a hindrance to the development of recent less invasive techniques in the field of beating heart surgery. Some solutions were developed already in order to solve this problem, inducing specific and cumbersome equipment. The alternative described herein is based on a compact simple device using gyroscopic effect, intended to be adaptable to existing equipment and which is non-grounded. The presented work is a preliminary study of such a system. After exposing the principle and dynamical equations we present the device design process which was carried out and finally discuss the control strategy based on Linear Quadratic Regulator (LQR) synthesis and its simulation results.