A cardiac motion compensation device based on gyroscopic effect. - Julien Gagne; Olivier Piccin; Edouard Laroche; Jacques Gangloff (SyRoCo, 2009)

GyroLock - first in vivo experiments of active heart stabilization using Control Moment Gyro (CMG). - Julien Gagne; Olivier Piccin; Edouard Laroche; Michele Diana; Jacques Gangloff (ICRA, 2011)

GyroLock: Stabilizing the Heart With Control Moment Gyroscope (CMG) - From Concept to First In Vivo Assessments. - Julien Gagne; Olivier Piccin; Edouard Laroche; Michele Diana; Jacques Gangloff (IEEE Trans. Robotics, 2012)