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 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 position the suture target holder to position a target suture device mounted to the suture target holder;
a data store configured to store suturing procedure script data that includes data representing a plurality of positions of the suture target holder; and
a controller communicatively coupled to the data store and to the automated suture fixture, the controller configured to:
load from the data store the suturing procedure script data;
retrieve from the suturing procedure script data first data representing a first position of the plurality of positions of the suture target holder;
provide position control signals to the automated suture fixture to cause the automated suture fixture to position the suture target holder in the first position;
retrieve from the suturing procedure script data a second position of the plurality of positions of the suture target holder; and
provide position control signals to the automated suture fixture to cause the automated suture fixture to position the suture target holder in the second position.
2. The suturing system of claim 1 further comprising a user input device.
3. The suturing system of claim 2 , wherein the controller is further configured to adjust a position of the automated suture fixture to deviate from the first position or from the second position in response to positioning information received from the user input device.
4. The suturing system of claim 2 , wherein the controller is configured to provide the position control signals to cause the automated suture fixture to position the suture target holder in the first position responsive to receiving a first input from the user input device.
5. The suturing system of claim 4 , wherein the controller is configured to provide the position control signals to cause the automated suture fixture to transition a position of the suture target holder from the first position to the second position responsive to receiving a second input from the user input device.
6. The suturing system of claim 2 , wherein the user input device includes a foot pedal.
7. The suturing system of claim 1 , wherein a transition from the first position to the second position includes a rotation of the suture target holder about an axis of the suture target holder.
8. The suturing system of claim 1 further comprising:
a camera system including a camera configured to generate an image of the suture target holder; and
a display system configured to display the image of the suture target holder generated by the camera system.
9. The suturing system of claim 8 , wherein the controller is further configured to:
retrieve from the suturing procedure script data third data representing a first configuration of the camera; and
provide control signals to the camera system to cause the camera system to configure the camera according to the third data.
10. The suturing system of claim 9 , wherein the first configuration of the camera includes a position of the camera or a focus of the camera.
11. A method of suturing a target device, the method comprising:
loading from a data store suturing procedure script data that includes data representing a plurality of positions of a suture target holder of an automated suture fixture, the automated suture fixture comprising an articulating arm to which the suture target holder is coupled;
retrieving from the suturing procedure script data first data representing a first position of the plurality of positions of the suture target holder;
providing position control signals to the automated suture fixture to cause the automated suture fixture to position the suture target holder in the first position;
retrieving from the suturing procedure script data a second position of the plurality of positions of the suture target holder;
providing position control signals to the automated suture fixture to cause the automated suture fixture to position the suture target holder in the second position.
12. The method of claim 11 further comprising receiving input from a user input device.
13. The method of claim 12 further comprising adjusting a position of the automated suture fixture to deviate from the first position or from the second position in response to the input from the user input device, the input comprising positioning information.
14. The method of claim 12 , wherein providing the position control signals to cause the automated suture fixture to position the suture target holder in the first position occurs responsive to receiving the input from the user input device.
15. The method of claim 12 , wherein providing the position control signals to cause the automated suture fixture to position the suture target holder in the second position occurs responsive to receiving the input from the user input device.
16. The method of claim 11 , wherein the suturing procedure script data further includes suture information corresponding to a suture to be formed at the first position or the second position.
17. The method of claim 11 , wherein a transition from the first position to the second position includes a rotation of the suture target holder about an axis of the suture target holder.
18. The method of claim 11 further comprising:
generating an image of the suture target holder with a camera system that includes a camera; and
displaying with a display system the image of the suture target holder generated by the camera system.
19. The method of claim 18 further comprising:
retrieving from the suturing procedure script data third data representing a first configuration of the camera; and
providing control signals to the camera system to cause the camera system to configure the camera according to the third data.
20. The method of claim 19 , wherein the first configuration of the camera includes a position of the camera or a focus of the camera.