JPWO2021034794A5 - - Google Patents

Claims (25)

an automated fixture including a plurality of actuator devices coupled to a target holder, the automated fixture configured to steer a target device attached to the target holder;
a visual aid system including one or more actuator devices coupled to a light source, the visual aid system configured to steer the light source to project a visual indicator onto a target location of the target device; A suturing assistance system, comprising: 3. The system of claim 1 , wherein the target device is a heart valve. 3. The system of claim 1 , further comprising a controller configured to direct the automated fixture and the visual aid system to perform a preprogrammed suturing procedure. 2. The system of claim 1 , wherein the visual aid system further comprises one or more optical elements configured to change the position or properties of the visual indicator. 2. The system of claim 1 , wherein the light source is configured to generate two or more visual indicators simultaneously on the target device. An automated suture fixture including a plurality of actuator devices and a suture target holder, the automated suture fixture configured to position a target device attached to the suture target holder;
a vision aid system including one or more actuator devices coupled to a light source, the vision aid system configured to position the light source to project a visual indicator at a target location of the target device;
A data store storing suturing procedure script data, said suturing procedure script data representing a first data set representing a plurality of positions of said automated suture fixture and said suturing target holder for a suturing procedure. a data store further storing target device data, said data store including a second data set representing the shape of said target device in three-dimensional space;
accessing the suturing procedure script data and the target device data to provide position control signals to the automated suture fixture and the visual assistance system based at least in part on the suturing procedure script data and the target device data; and a controller configured to provide a suturing system. 7. The suturing system of claim 6 , wherein the target device is a human prosthetic heart valve implant device. 7. The suturing system of claim 6 , wherein the controller is further configured to select the first data set from among a plurality of data sets of the suturing procedure script data. 7. The suturing system of claim 6 , wherein the controller is configured to create a three-dimensional topology map of the target device based on the target device data. configured such that the light source of the vision aid system remains stationary and the automatic fixture adjusts the position or orientation of the target device during transitions between two or more steps of the suturing procedure; 7. The suturing system of claim 6 , wherein the suturing system is configured to: such that upon transition between two or more steps of the suturing procedure, the light source changes characteristics of the visual indicator to indicate information regarding differences between the two or more steps of the suturing procedure. 7. The suturing system of claim 6 , configured. an automated fixture configured to steer a target device mounted on the target holder;
a visual aid system configured to project a visual indicator onto a target location of the target device;
retrieving a computer model of the target device from a data store; retrieving inspection script data from the data store; and based on the retrieved computer model and the retrieved inspection script data, the vision. and a controller configured to send control signals to an assistance system to orient components of the visual assistance system to project the visual indicator onto the target location. 13. The system of Claim 12 , wherein the target device is an implantable device. 13. The system of Claim 12 , further comprising a visualization system including one or more cameras, wherein the controller is configured to receive images from the visualization system. 15. The system of claim 14 , wherein the controller is configured to determine correct suturing based on images received from the visualization system. 16. The system of claim 15 , wherein the visual aid system is configured to change the appearance of the visual indicator based on the correctness of the stitching determined by the controller. 13. The system of any one of claims 12 , wherein the visualization system is configured to provide image recognition to determine correct suturing. 18. The system of claim 17 , wherein the correctness of the stitching is based on comparing images of the stitching acquired by the one or more cameras to a catalog of images of correct stitching. The inspection script data includes a first inspection step and a second inspection step, wherein the first inspection step includes determining that a first stitch is correct, and the second inspection step comprises a second inspection step. 13. The system of claim 12 , including determining that two stitches are correct. 20. The system of claim 19 , wherein the visual indicator indicates that the first suture is correct at the end of the first inspection step. 21. The system of claim 20 , wherein the controller receives input from user input to proceed from the first inspection step to the second inspection step. 13. The system of claim 12 , wherein the automated fixture includes a fixture articulating arm and the target holder is secured to a distal end of the fixture articulating arm. 13. The method of claim 12 , wherein the vision assistance system includes an articulating arm, a light source fixed to a distal end of the articulating arm, the light source configured to project the visual indicator. System as described. 24. The system of Claim 23 , wherein the visual aid system is configured to position and direct the light source to project the visual indicator onto the target location of the target device. 25. The articulating arm of claim 24 , wherein the articulating arm is configured to adjust the position of the light source such that the vision aid system does not interfere with an operator inspecting the target location on the target device. system.