Automated heart valve manufacturing
An automated system that can be used for prosthetic heart valve manufacturing or suturing procedures. The system includes automated fixtures that maneuver a needle and a target device. The automated fixtures can be suturing arms, target device holders, needle transfer fixtures, and/or needle holders. The automated fixtures can rotate a target device held by the holder to allow one or more additional automated fixtures to perform operations such as form sutures on the target device without intervention of a human operator. The system can include a display system configured to display status information of a suturing procedure.
1 . A method for forming sutures on a target device using a fully automated system, the method comprising:
securing a needle in a first needle transfer fixture;
maneuvering a target device to pass the needle through a material of the target device by automatically manipulating components of an automated suture fixture comprising a target holder, the target device secured by the target holder;
maneuvering a suturing arm to grab the needle from the first needle transfer fixture using a needle holder of the suturing arm;
pulling the needle through the material of the target device with the needle holder of the suturing arm;
transferring the needle to a second needle transfer fixture;
retrieving the needle from the second needle transfer fixture using needle holder of the suturing arm;
passing, using the suturing arm, the needle to the first needle transfer fixture through the material of the target device; and
maneuvering, using the automated suture fixture, the target device so that the needle passes all the way through the target device to form a suture on the target device.
2 . The method of claim 1 further comprising adjusting an orientation of the suturing arm relative to the needle while the needle is secured by the second needle transfer fixture.
3 . The method of claim 1 , wherein the automated suture fixture comprises a plurality of motorized actuator devices coupled to the target holder.
4 . The method of claim 3 , wherein the suturing arm comprises a plurality of motorized actuator devices coupled to the needle holder.
5 . The method of claim 1 , wherein forming the suture in the target device is part of a pre-programmed suturing procedure.
6 . The method of claim 5 further comprising sending control signals from a controller to the automated suture fixture, to the suturing arm, and to the first needle transfer fixture to perform the pre-programmed suturing procedure.
7 . The method of claim of claim 6 further comprising sending feedback signals to the controller from a targeting system configured to acquire images of the target device.
8 . The method of claim 7 , wherein the feedback provided by the targeting system is configured to adjust the suturing arm to target the needle to specified points on the target device.
9 . The method of claim 5 , wherein the pre-programmed suturing procedure includes a data set representing a plurality of positions of the automated suture fixture and the suturing arm.
10 . The method of claim 1 , wherein the target device is a prosthetic human heart valve implant device.
11 . A method for forming sutures on a target device using a fully automated system, the method comprising:
maneuvering a target device by automatically manipulating components of an automated suture fixture comprising a target holder, the target device secured by the target holder;
maneuvering a needle to perform a first operation of a suturing procedure on the target device, the needle secured by a suturing arm with a needle holder during the first operation;
maneuvering the target device with the automated suture fixture to perform a second operation of the suturing procedure on the target device, the needle secured by a first needle transfer fixture during the second operation; and
securing the needle in a second needle transfer fixture during a portion of the suturing procedure to allow the suturing arm to adjust an orientation of the needle relative to the needle holder.
12 . The method of claim 11 further comprising passing the needle from the needle holder to the first needle transfer fixture to transition between the first operation and the second operation.
13 . The method of claim 12 , wherein passing the needle from the needle holder to the first needle transfer fixture includes passing the needle through a material of the target device.
14 . The method of claim 11 , wherein the suturing procedure is configured to perform a plurality of sutures on the target device.
15 . The method of claim 11 , wherein the first needle transfer fixture remains in a fixed position during the suturing procedure.
16 . The method of claim 15 , wherein the second needle transfer fixture remains in a fixed position during the suturing procedure.
17 . The method of claim 11 , wherein the automated suture fixture comprises a plurality of motorized actuator devices coupled to the target holder.
18 . The method of claim 17 , wherein the suturing arm comprises a plurality of motorized actuator devices coupled to the needle holder.
19 . The method of claim 18 , wherein the first needle transfer fixture includes a needle gripper that is configured to secure and to release the needle.
20 . The method of claim 11 , wherein the target device is a prosthetic human heart valve implant device.