Devices for assisting with heart valve manufacturing
An assistance system that can be used for prosthetic heart valve manufacturing or suturing procedures includes an automated fixture that can comprise an articulation arm and a target device holder. The target device holder can be positioned and oriented to reduce operator strain during a manufacturing or inspection process. The assistance system includes a user input device enabling the operator to move between positions to assist in such processes. The assistance system can also be trained by capturing sequences of position data corresponding to a manufacturing or inspection process.
1. A suturing assistance system comprising:
an automated suture fixture comprising a plurality of motorized actuator devices and a suture target holder, the automated suture fixture being configured to rotate a target suture device mounted to the holder;
a camera system configured to generate an enlarged image of the target suture device; and
a suture target display configured to display the enlarged image, the suture target display indicating a target suture position associated with the target suture device.
2. The suturing assistance system of claim 1 , wherein the target suture device is a heart valve.
3. The suturing assistance system of claim 1 , further comprising a controller configured to direct the camera system to capture image data associated with a suturing procedure and store the image data with metadata identifying at least one of the suturing procedure and an operator associated with the suturing procedure.
4. The suturing assistance system of claim 1 , wherein the automated suture fixture is configured to adjust a tension of the automated suture fixture.
5. The suturing assistance system of claim 1 , wherein the automated suture fixture includes a pressure plate component configured to adjust a tension of the automated suture fixture.
6. The suturing assistance system of claim 1 , wherein the suture target display comprises a reticle.
7. The suturing assistance system of claim 6 , wherein the reticle comprises crosshairs.
8. The suturing assistance system of claim 6 , wherein the reticle comprises a circular reticle.
9. The suturing assistance system of claim 8 , wherein the circular reticle includes notches for stitch counting.
10. The suturing assistance system of claim 1 , wherein the target suture device holder is a gimbal holder assembly.
11. The suturing assistance system of claim 10 , wherein the gimbal holder assembly comprises a three-axis gimbal.
12. The suturing assistance system of claim 1 , wherein the automated suture fixture is configured to move the target suture device in at least four directions.
13. The suturing assistance system of claim 1 , wherein the automated suture fixture comprises a plurality of servo motor devices daisy-chained together.
14. The suturing assistance system of claim 1 , wherein the camera system comprises a first camera and a second camera, the first and second cameras collectively configured to provide images of two different views of the target suture device.
15. The suturing device of claim 1 , wherein the automated suture fixture comprises an encoder associated with an articulation arm, the encoder configured to provide position information for the articulation arm.
16. An automated suture fixture comprising:
a plurality of motorized actuator devices, each comprising a motor and a rotating support member coupled to a rotor component of the motor; and
a suture target holder assembly attached to the rotating support member of a distal actuator device of the plurality of motorized actuator devices and configured to hold a prosthetic heart valve device;
wherein each of the plurality of motorized actuator devices is fixed to one or more other motorized actuator devices of the plurality of motorized actuator devices; and
wherein the automated suture fixture is configured to receive control signals and rotate the rotating support members of one or more of the plurality of motorized actuator devices based on the control signals.
17. The automated suture fixture of claim 16 , wherein each of the plurality of motorized actuator devices further comprises a servo feedback component configured to generate a signal indicating a position of a respective rotor component.
18. The automated suture fixture of claim 16 , wherein the plurality of motorized actuator devices comprises one or more base actuator devices and at least one intermediate-stage actuator device fixed at a base thereof to the rotating support members of the one or more base actuator devices, wherein the distal actuator device is fixed at a base thereof to the rotating support member of the intermediate-stage actuator device.
19. The automated suture fixture of claim 18 , wherein the base of the intermediate-stage actuator device is fixed to the rotating support members of the one or more base actuator devices via a connector plate mounted to the rotating support members of the one or more base actuator devices.
20. The automated suture fixture of claim 19 , wherein the suture target holder assembly comprises one or more components configured to rotate about an axis substantially tangent to an axis of rotation of the rotating support member of the distal actuator device.