Robotic Platforms to mimic papillary muscle motion ex vivo
AssigneeThe Board of Trustees of the Leland Stanford Junior University
InventorsY. Joseph Woo, Michael John Paulsen, Annabel M. Imbrie-Moore, Matthew Park, Rohun Kulkarni
Life of this patent
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Abstract
Simulated motion of the papillary muscles in a heart simulator is provided that simulates natural motion of the papillary muscles. This improves heart valve simulation. This can be done with a six degree of freedom robotic actuator (e.g., a Stewart platform or the like) appropriately driven by a controller. This can also be done with a robotic actuator that provides constrained motion of its effector by including a mechanical linkage, as long as the resulting simulated papillary muscle motion includes time-varying position and orientation of the papillary muscle.
Claims17
A method comprising:
- performing heart simulation with a heart simulator configured to provide mounting for at least one heart valve structure;
- wherein the heart valve structure includes one or more papillary muscles;
- wherein the heart simulator includes one or more robotic actuators having three positional degrees of freedom and at least one rotational degree of freedom for motion;
- affixing at least one of the papillary muscles of the heart valve structure to the one or more robotic actuators;
- and
- driving the robotic actuators so as to simulate natural in vivo cardiac motion of the one or more papillary muscles.
Apparatus comprising:
- a heart simulator configured to provide mounting for at least one heart valve structure, wherein the heart valve structure includes one or more papillary muscles;
- one or more robotic actuators having three positional degrees of freedom and at least one rotational degree of freedom for motion, wherein at least one of the papillary muscles of the heart valve structure is affixed to the one or more robotic actuators;
- and
- a controller configured to drive the robotic actuators so as to simulate natural in vivo cardiac motion of the one or more papillary muscles.
Apparatus comprising:
- an ex vivo heart simulator configured to provide mounting for at least one heart valve structure, wherein the heart valve structure includes one or more papillary muscles;
- and
- one or more robotic actuators, wherein at least one of the papillary muscles of the heart valve structure is affixed to the one or more robotic actuators;
- wherein each of the robotic actuators includes a mechanical linkage relating motion of an end-effector to motion provided by a mechanical input;
- a controller configured to drive the one or more mechanical inputs of the one or more robotic actuators to provide simulated motion of the one or more papillary muscles;
- wherein the simulated motion simulates natural in vivo cardiac motion of the one or more papillary muscles;
- wherein the simulated motion includes time-varying position and orientation of the one or more papillary muscles.
Dependencies are inferred from the claim text.