Search research articles

ABOUT JoVE

Overview Leadership Blog JoVE Help Center

AUTHORS

Publishing Process Editorial Board Scope & Policies Peer Review FAQ Submit

LIBRARIANS

Testimonials Subscriptions Access Resources Library Advisory Board FAQ

RESEARCH

JoVE Journal Methods Collections JoVE Encyclopedia of Experiments Archive

EDUCATION

JoVE Core JoVE Business JoVE Science Education JoVE Lab Manual Faculty Resource Center Faculty Site

Terms & Conditions of Use

Related Concept Videos

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by

Same author

Stable Tracking-in-the-Loop Control of Cable-Driven RCM Surgical Manipulators under Erroneous Kinematic Chains.

IEEE robotics and automation letters·2026

Same author

Tissue removal inside the beating heart using a robotically delivered metal MEMS tool.

The International journal of robotics research·2026

Same author

CRANE: A Redundant, Multi-Degree-of-Freedom Computed Tomography Robot for Heightened Needle Dexterity within a Medical Imaging Bore.

IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society·2025

Same author

Large scale causal modeling to identify adults at risk for combined and common variable immunodeficiencies.

NPJ digital medicine·2025

Same author

Image-based simulation of mitral valve dynamic closure including anisotropy.

Medical image analysis·2024

Same author

Congenital Heart Surgery: In Rapid Evolution.

Circulation·2024

Search research articles

Related Experiment Video

Updated: Jun 13, 2026

Robotic Ablation of Atrial Fibrillation

Robotic Ablation of Atrial Fibrillation

Published on: May 29, 2015

Robotic force stabilization for beating heart intracardiac surgery.

Shelten G Yuen¹, Michael C Yip, Nikolay V Vasilyev

¹Harvard School of Engineering and Applied Sciences, Cambridge, MA, USA.

Medical Image Computing and Computer-Assisted Intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention

|April 30, 2010

Summary

This study introduces a robotic system for stabilizing contact force during beating heart surgery. It significantly reduces force fluctuations, improving safety and accuracy in delicate cardiac procedures.

More Related Videos

Cardiac Muscle-cell Based Actuator and Self-stabilizing Biorobot - PART 1

Cardiac Muscle-cell Based Actuator and Self-stabilizing Biorobot - PART 1

Published on: July 11, 2017

Benefits of Cardiac Resynchronization Therapy in an Asynchronous Heart Failure Model Induced by Left Bundle Branch Ablation and Rapid Pacing

Benefits of Cardiac Resynchronization Therapy in an Asynchronous Heart Failure Model Induced by Left Bundle Branch Ablation and Rapid Pacing

Published on: December 11, 2017

Related Experiment Videos

Last Updated: Jun 13, 2026

Robotic Ablation of Atrial Fibrillation

Robotic Ablation of Atrial Fibrillation

Published on: May 29, 2015

Cardiac Muscle-cell Based Actuator and Self-stabilizing Biorobot - PART 1

Cardiac Muscle-cell Based Actuator and Self-stabilizing Biorobot - PART 1

Published on: July 11, 2017

Benefits of Cardiac Resynchronization Therapy in an Asynchronous Heart Failure Model Induced by Left Bundle Branch Ablation and Rapid Pacing

Benefits of Cardiac Resynchronization Therapy in an Asynchronous Heart Failure Model Induced by Left Bundle Branch Ablation and Rapid Pacing

Published on: December 11, 2017

Area of Science:

Robotics
Surgical Technology
Biomedical Engineering

Background:

Minimally invasive beating heart surgery requires precise manipulation of delicate cardiac tissues.
Maintaining consistent contact force is crucial for safety and efficacy during these procedures.
Current methods face challenges due to cardiac motion and tissue dynamics.

Purpose of the Study:

To develop and evaluate a robotic force stabilization system for beating heart surgery.
To assess the system's ability to maintain constant contact force on moving cardiac tissue.
To quantify the improvement in force control compared to existing methods.

Main Methods:

Integration of a miniature uniaxial force sensor with surgical instrumentation.
Utilization of real-time 3D ultrasound for tissue motion tracking.
Implementation of a force controller with feed-forward motion compensation.
In vivo testing on a beating mitral valve annulus contact task.

Main Results:

The robotic system successfully maintained stable contact force during beating heart procedures.
A 50% reduction in force fluctuations was achieved compared to a standard force controller.
A 75% reduction in force fluctuations was observed compared to manual control.
Demonstrated safe and accurate force stabilization in a challenging surgical scenario.

Conclusions:

The novel robotic force stabilization system enhances surgical precision in beating heart procedures.
The system's ability to mitigate cardiac motion improves safety and reduces tissue trauma.
This technology offers a significant advancement for complex cardiac interventions.