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. 2017 Feb 1;36(2):193–209. doi: 10.1177/0278364917691113

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© The Author(s) 2017

This article is distributed under the terms of the Creative Commons Attribution-NonCommercial 4.0 License (http://www.creativecommons.org/licenses/by-nc/4.0/) which permits non-commercial use, reproduction and distribution of the work without further permission provided the original work is attributed as specified on the SAGE and Open Access page (https://us.sagepub.com/en-us/nam/open-access-at-sage).

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Fig. 1. — Model predictive control (MPC) can be used to steer the robotically actuated delivery sheath (RADS) in order to assist the clinician during cardiovascular surgery. The potential of MPC in cardiovascular surgery can be demonstrated by compensating for the aortic heart valve (AHV) motion in a representative case of transapical transcatheter aortic valve implantation. The RADS ① is inserted through the apex ② into the left ventricle ③ and oriented towards to the aortic annulus ④. The articulating tip ⑤ of the RADS can be steered inside the left ventricle under ultrasound ⑥ image guidance in two degrees of freedom by two pairs of antagonistically configured tension wires. Pre-operative ultrasound data ⑦ can be used as an input to the MPC strategy to anticipate and compensate the AHV motion during surgery.