• 专利附录
  • 专利说明
  • 权利要求
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    • 专利摘要:
    The present invention relates to a system that can be used to suture implants that includes a first automated accessory that can comprise a hinge arm and target device support and a second automated accessory configured to operate as a sewing machine for sewing. material in the implant. The second automated accessory uses a curved needle to form a stitch without having to release the needle in the process. The second automated accessory can also include a stitch passer that moves in coordination with the curved needle to perform a single or single thread suture stitch.
    公开号:BR112020013781A2
    申请号:R112020013781-2
    申请日:2019-01-11
    公开日:2020-12-01
    发明作者:Chacphet Limsakoune；Kenny Yin；Nina Robson；Jeanette Corona；Michael White；Juan Cuevas；David Estelle；Michael Mashni；Oscar Rosales；Mitchell Salgado
    申请人:Edwards Lifesciences Corporation；
    IPC主号:
    专利说明:

    [0001] [0001] This application claims United States Provisional Patent Application priority US 62 / 617,114 to Limsakoune et al., Entitled "Automated Heart Valve Sewing", filed on January 12, 2018, which is incorporated by reference . BACKGROUND
    [0002] [0002] Medical devices, prosthetic implants, prosthetic heart valves, etc. may require sewing, treatment, inspection etc. of certain portions and / or their components. Accuracy and / or efficiency in performing sutures or other operations for these devices can be important. In addition, certain heart valve suturing operations or other operations can be time-consuming and difficult. SUMMARY
    [0003] [0003] This summary is intended to provide some examples and is not intended to limit the scope of the invention in any way. For example, any feature included in an example in this summary is not required by the claims, unless the claims explicitly cite the features. In addition, resources, steps, concepts, etc. described in examples in this summary and elsewhere in this disclosure can be combined in several ways. The description in this document refers to devices, devices, systems, assemblies, methods, combinations, etc., that can be used for the manufacture and processing of heart valves and / or components, devices, devices, etc. associated or related, among other resources. these can use or include logic that can receive a set of parameters as input that can be displayed graphically and / or can be analyzed and new data generated and / or displayed graphically to a user after the parameters have been received as input.
    [0004] [0004] In some implementations, the present disclosure relates to a method of fabricating a target device or component, for example, a method of fabricating or suturing a prosthetic implant device (eg, a human implant prosthetic device , prosthetic heart valve), human prosthetic heart valve, etc.). The method comprises targeting (for example, providing input, programming, executing a program, pressing a button, clicking on an icon, etc.) of the automated accessory to position the target device (for example, prosthetic implant device, etc.) in a first position, performing a first operation or procedure on the target device, directing (for example, providing input, programming, executing a program, pressing a button, clicking an icon etc.) the automated device to position the target device in a second position and performing a second operation or procedure on the target device. The method may comprise the arrangement of the target device in a support component.
    [0005] [0005] The method can also comprise the use of a needle and a stitch dowel to form a stitch on the target device, so that a stitch is formed without the needle releasing the suture or thread. The needle can be a curved needle that moves reciprocally in conjunction with the stitch passer that moves reciprocally in coordination with the curved needle to form the points on the target device.
    [0006] [0006] In some implementations, a method of suturing an implant device comprises placing a target or implant device (eg, a prosthetic heart valve, etc.) in a support component of a first automated and driving accessory ( for example, providing input, programming, executing a program, pressing a button, clicking an icon etc. to make) the first automated accessory to position the target or implant device in a first position.
    [0007] [0007] In some implementations, the method also includes targeting (for example, providing inputs, programming, executing a program, pressing a button, clicking an icon etc. to make it) a second automated accessory executing a first point on the device implant, passing a curved needle in and out of a sutured material in the target or implant device.
    [0008] [0008] The method can also comprise directing (for example, providing inputs, programming, executing a program, pressing a button, clicking an icon, etc.) the first automated device to position the target or implant device in a second position ( and, optionally, a third, fourth, fifth and / or other additional positions).
    [0009] [0009] In some embodiments, the method also includes targeting (for example, providing input, programming, executing a program, pressing a button, clicking an icon, etc.) of the second automated accessory to perform a second stitch on the device implant, passing and entering and exiting the curved needle of the material being sutured to the target or implant device.
    [0010] [0010] The second automated accessory may include a stitch passer that moves in coordination with the curved needle to form the first and second points.
    [0011] [0011] The method may also comprise targeting the first automated accessory to circumferentially rotate the implant device in place.
    [0012] [0012] In some modalities, the method comprises loading a pre-programmed suture procedure script using one or more processors configured to control the first automated accessory and the second automated accessory.
    [0013] [0013] The second automated accessory can use the curved needle to perform the first stitch, so that the first stitch is a single suture stitch. The curved needle can be configured to pass in and out of the material along a fixed path of the curved needle. The curved needle can pass through the material in two different locations for each of the first point and the second point.
    [0014] [0014] The stitch passer may include two or more teeth to secure a portion of the suture as the curved needle is removed through the insertion points formed during the formation of the first stitch. The stitch passer can be configured to rotate to form a loop with the suture portion to form the first stitch. The curved needle can pass through the loop formed by the stitch dowel to form the first stitch.
    [0015] [0015] In some implementations, a suture system comprises one or more automated accessories. For example, the system comprises at least one first automated accessory. The first automated accessory may comprise a plurality of motorized actuator devices and a suture target support. The first automated accessory is configured to move or rotate a target suture device (e.g., a heart valve, etc.), for example, when the target suture device is mounted on the suture target holder.
    [0016] [0016] In some modalities, the system also includes at least a second automated accessory. In some embodiments, the second automated accessory comprises a curved needle and can be configured to move the curved needle on a fixed path.
    [0017] [0017] In some modalities, the second automated accessory also includes a stitch passer. The stitch dowel can have one or several teeth. The stitch dowel (for example, dowel teeth) can be configured to secure a portion of a suture and form a loop using the suture portion as the curved needle moves in the fixed path. In some embodiments, the stitch passer moves along a second fixed path that includes rotation of the stitch passer to form the loop using the suture portion. The movement of the curved needle can be stopped or synchronized with the movement of the stitch dowel.
    [0018] [0018] In some embodiments, the first automated accessory and the second automated accessory of the system are arranged in relation to each other and configured so that the first automated accessory can move the target suture device in three dimensions to position the suture device target in the path of the curved needle. The system and the component or its accessories can be configured to implement a predetermined suture pattern in the target suture device.
    [0019] [0019] In some embodiments, the first automated accessory comprises a first controller configured to direct the first automated accessory as to position the target suture device. In some embodiments, the second automated accessory comprises a second controller configured to direct the second automated accessory when moving the curved needle to implement the suture pattern.
    [0020] [0020] The second automated accessory may include a tensioning device that can maintain a suture in a state of constant tension when implementing the suture pattern.
    [0021] [0021] In some embodiments, the first automated accessory is configured to move the target suture device in at least four directions. The first automated accessory may comprise a pivot arm.
    [0022] [0022] The system, for example, the second automated accessory of the system, can be configured so that the curved needle is used to implement the suture pattern as a single suture seam.
    [0023] [0023] Other steps, characteristics, components, etc. not specifically mentioned in these examples, but described here elsewhere or otherwise known may also be included and / or used with the examples described herein. BRIEF DESCRIPTION OF THE DRAWINGS
    [0024] [0024] Various modalities are represented in the attached drawings for illustrative purposes and should not be interpreted as limiting the scope of any of the inventions disclosed herein. In addition, several characteristics of different disclosed modalities can be combined to form additional modalities, which are part of this disclosure. Throughout the drawings, reference numbers can be reused to indicate correspondence between the reference elements.
    [0025] [0025] Figure 1 illustrates an example of an implantable prosthetic valve device.
    [0026] [0026] Figure 2 illustrates a perspective view of an example of another prosthetic heart valve.
    [0027] [0027] Figure 3A illustrates a structure for a support stent for an example surgical valve.
    [0028] [0028] Figure 3B illustrates the structure of Figure 3A covered with fabric.
    [0029] [0029] Figure 4 illustrates an example of an operator performing operations on an implant device.
    [0030] [0030] Figure 5 illustrates a close-up view of a heart valve implantation device being sutured using manual suture and retention.
    [0031] [0031] Figure 6 illustrates a close-up view of a tissue that can be associated with an implant device.
    [0032] [0032] Figure 7 illustrates a block diagram illustrating an example suture system.
    [0033] [0033] Figure 8A illustrates a perspective view of an example suture system.
    [0034] [0034] Figures 8B, 8C, 8D, 8E, 8F, 8G and 8H illustrate an example process for suturing an implant device using the example suture system of Figure 8A
    [0035] [0035] Figures 8I, 8J, 8K, 8L, 8M, 8N and 80 illustrate another example process for suturing an implant device using the example suture system of Figure 8A.
    [0036] [0036] Figure 9 illustrates a block diagram of an example control system for controlling an automated suture accessory.
    [0037] [0037] Figure 10 illustrates an example distal articulation arm of an automated suture accessory coupled to a support component. DETAILED DESCRIPTION
    [0038] [0038] Although certain preferred modalities and examples are disclosed below, the inventive object extends beyond the modalities specifically disclosed for other modalities and / or alternative uses and for modifications and equivalents thereof. Thus, the scope of the claims that may arise from here is not limited by any of the particular modalities described below. For example, in any method or process disclosed in this document, the acts or operations of the method or process may be performed in any suitable sequence and are not necessarily limited to any specific disclosed sequence. In addition, one or more steps disclosed with respect to one method can be incorporated into other methods disclosed herein. Several operations can be described as several different operations, in turn, in a way that can be useful in understanding certain modalities; however, the order of the description should not be interpreted as implying that these operations depend on the order. In addition, the structures, systems and / or devices described in this document can be incorporated as integrated components or as separate components. For the purpose of comparing various modalities, certain aspects and advantages of these modalities are described. Not all aspects or advantages are necessarily achieved by any specific modality. Thus, for example, several modalities can be performed in a way that achieves or optimizes an advantage or group of advantages, as taught here, without necessarily reaching other aspects or advantages, as they can also be taught or suggested here. The characteristics described in relation to an exemplary modality can be incorporated into other modalities disclosed in this document, even if they are not specifically described in relation to the modality.
    [0039] [0039] Prosthetic heart valve implants, as well as many other types of prosthetic implant devices and other types of devices, can comprise various sutured components and / or portions. For example, a sealing portion, skirt, etc. it can be sutured into the structure of a prosthetic heart valve to help prevent blood from leaking from the outer edges or the circumference of the prosthetic heart valve. The execution of sutures by a human operator can be relatively difficult and / or complicated under certain conditions. For example, where small points must be made with high precision, the complexity and / or the associated load of the operator can result in injury and / or undesirably low product quality. In addition, certain heart valve implantation devices may require hundreds of sutures, which can involve substantially labor-intensive and error-prone suture procedures. Therefore, adding automation to the implant suture may be desirable to improve quality, manufacturing speed and / or help avoid problems associated with human operators.
    [0040] [0040] Certain modalities disclosed herein provide systems, devices and / or methods for suturing the heart valve to perform suture procedures involving the physical manipulation and / or the positioning of one or more accessories, components and / or automated mechanical joint subsets . These hinged accessory (s) or component (s) can be configured to attach or secure a prosthetic human heart valve implant device, or other subject or suture device with one or more components or portions that may be sutured advantageously. The various modalities related to the heart valve suture presented here can be applicable to heart valves with any type of suture and / or configuration or structural pattern. Examples of heart valve structures and heart valve suture techniques that may be applicable to certain modalities presented herein are disclosed in WIPO Publication No. WO 2015/070249, the entire content of which is expressly incorporated by reference.
    [0041] [0041] Figure 1 illustrates an implantable human prosthetic valve device 110 according to one or more modalities. Valve characteristics 110 described herein can be applied to other valves, including other valves described elsewhere in this document. The valve 110 can be, for example, a transcatheter heart valve (TFIV), balloon expandable heart valve and / or mechanically expandable heart valve. The valve 110 in the illustrated embodiment can generally comprise a frame, or stent, 112, a folding frame 193 supported by frame 112 and a sealing member or skirt 116 attached (e.g., sutured) to the outer surface of the folding structure 193. modalities, valve 110 is configured to be implanted in the annular space of a heart valve native to a human being, such as an aortic valve. However, valve 110 can, additionally or alternatively, be adapted to be implanted in other native heart valves, or in various other vasculatures, ducts or orifices in the body, or in grafts, fitting stents, fitting stations, rings, etc. implanted in the body. The lower end 180, according to the illustrated orientation, of the valve 110 represents an inlet end, while the upper end 182, according to the illustrated orientation, of the valve 110 represents an outlet end.
    [0042] [0042] Valve 110 and frame 112 can be configured to be radially foldable to a folded or crimped state or configuration for introduction into the body using a delivery catheter and can still be configured to be radially expandable to a state or expanded configuration to implant the valve in a desired location on the body (for example, the native aortic valve). In certain embodiments, the frame 112 comprises a plastic, polymer, material with shape memory or expandable metal material that allows to insert the valve 110 into a smaller profile for delivery and expansion of the valve. In certain implementations, an expansion device, such as a balloon from a balloon catheter or a tool for mechanical expansion, can be used to expand or help expand the valve. In certain embodiments, valve 110 is a self-expanding valve, in which the structure is made of a self-expanding material, such as a material with shape or metal memory (for example, Nitinol). The self-expanding valves can be folded into a smaller profile and maintained in the folded state with a holding device, such as a sheath that covers the valve. When the valve is positioned at or near the target location, the retention device can be removed or retracted to allow the valve to automatically expand to its expanded functional size or to an implemented configuration.
    [0043] [0043] The sealing portion or skirt 116 may comprise a single piece or several pieces or material (for example, fabric, polymer, etc.) with opposite ends that are attached to each other to form the annular shape illustrated in Figure 1 or extend around a circumference of the valve. In certain embodiments, the upper edge of the sealing portion or skirt 116 has a wavy shape that generally follows the shape of the rods of the frame 112. In this way, the upper edge portions of the sealing portion or skirt 116 can be firmly attached to respective suture supports 156. Sealing portion or skirt 116 can be placed on the outside of frame 112 or inside frame 112 (as shown) and an upper edge portion of sealing portion or skirt 116 can be wrapped around the upper surfaces of the frame supports and fixed with sutures. Sutures 156 provide durable fixation of the sealing portion or skirt 116 to frame 112.
    [0044] [0044] The folding structure 193 can comprise three folds (as illustrated in Figure 1) in certain embodiments, which can be arranged to fold in a tricuspid arrangement. Although a three-fold modality is illustrated, it should be understood that valve implants sutured according to the modalities disclosed in this document can have any number of folds,
    [0045] [0045] Figure 2 illustrates a perspective view of a human prosthetic heart valve 210 according to one or more modalities. Heart valve 210 may include a peripheral seal ring structure 291 configured to provide support for fitting heart valve 210 into a heart valve cavity and / or resting on or attaching to an annular space or other structure of the heart. The valve 210 can further include a frame member 292, such as a metal frame, which can provide support for a plurality of flexible folds 293 and can define three hanging commissure pins 294, where the folds 293 can be supported between the commissure pins 294. In certain implementations, as shown in Figure 2, seal ring 291 can attach around the periphery of frame member 294 at the inlet end of valve 210, with commissure pins 294 protruding in the direction about to leave.
    [0046] [0046] Folds 293 can be formed from separate flaps of material or fabric, or the three folds can be derived from a single material. The folds 293 can be fixed and supported either by the commissure pins 294, or by the arched cusps of the frame member between the commissure pins.
    [0047] [0047] Figure 3A illustrates a frame 392 for a support stent for a surgical heart valve, such as valve 210 in Figure 2. Frame 392 may include several curved cusps towards an axial inlet end alternating with several commissures 322 protruding towards an axial outlet end, the support stent 392 defining a corrugated outlet edge. The support stent 392 may comprise a wire form 320 with three hanging commissures 322 alternating with three cusps 324 which generally circumscribe a circumference. A reinforcement strip 326 can be arranged inside or outside the wire form 320. The leading edge of the band 326 can conform or at least partially conform to the cusps 324 of the wire form 320 and can be curved in the direction of exit between the region of the wire shape commissures 322, for example, as illustrated in Figure 3A. In some embodiments, the support stent 392 provides the support structure for a unidirectional prosthetic heart valve (e.g., valve 210) of Figure 2.
    [0048] [0048] Figure 3B illustrates the frame of Figure 3A covered with fabric 340, where fabric 340 can be sutured in one or more portions, in order to fix fabric 340 as a cover for the frame
    [0049] [0049] The suturing of prosthetic devices for heart valves and / or other implant devices, such as those described above, can be performed in several ways. For example, certain manual processes for suturing human implant prosthetic devices can be implemented in which an operator uses both hands to hold, secure and / or suture the implant device. Figure 4 illustrates an operator 405 performing operations on a human implant prosthetic device 410. For example, operator 405 can suture an external wire frame from device 410 to an inner skirt or tissue, as described above, where the implant device 410 is a transcatheter heart valve device. Alternatively, implant device 410 may be a surgical valve device or other type of implant device. The implant device 410 can be the same or similar to one of the valves illustrated in this document, or it can be a different type of valve or implant device.
    [0050] [0050] As illustrated in the diagram in Figure 4, in some processes, a 405 operator may need to use both hands of the operator to perform relevant suture operations. For example, a first hand 406 can be used to hold and / or secure the implant device 410, and a second hand 407 can be used to manually operate a suture needle or the like.
    [0051] [0051] For the 405 operator to effectively perform the relevant suturing operations on the implant device 410, it may be necessary or desirable that the view of the implant device 410 be enlarged or improved in some way. For example, as illustrated, the operator can also use a 460 magnification system, such as a microscope, which can comprise a 461 eyepiece component, as well as one or more lenses and / or refractive elements
    [0052] [0052] Figure 5 illustrates a close-up view of a human implant prosthetic device being sutured using manual suture and retention, as described above. As illustrated, for manual suture solutions, a first hand 506 may be required to hold the target implant device 510, while a second hand 507 may be required to handle the suture needle 509, or the like. According to certain processes, the operator may be required to hold one or more hands in the substantially constant focus of a microscope for extended periods of time. In addition, the operator may be required to squeeze, push, pull or otherwise exert manual force on one or more portions of the target implant device 510 and / or suture needle 509.
    [0053] [0053] Figure 6 illustrates a close-up view of a tissue associated with an implant device according to one or more modalities. Such fabrics may comprise braided threads forming ribs with relatively small intervals between them. For example, each rib in a region of tissue to be sutured can have a thickness t of approximately 0.2 mm or less. For certain processes, it may be necessary or desirable to position and sew this fabric with the precision of a rib. Thus, precise positioning and focus of suture components and targets is desirable.
    [0054] [0054] To solve the problems identified above and meet the demand for heart valves and other implants, automation of the sewing operation can be beneficial in manufacturing, for example, to reduce touch time, human error, cost, etc. .
    [0055] [0055] Certain modalities disclosed in this document provide systems and processes for components and / or suture devices (for example, prosthetic implant devices) using multiple access systems and / or sewing systems for suture implant devices. Such systems can be configured to articulate a component or device (for example, an implant device, such as a human prosthetic heart valve device, etc.), where the precise positioning of the component or device can allow necessary or desirable suture operations . In addition, the system can be further configured to reposition the component or device for a subsequent operation (for example, a subsequent suture operation).
    [0056] [0056] Suturing an implant device or heart valve may require suture accuracy within a millimeter, half a millimeter or less, but a suture site can be easily lost between ribs or threads, especially when implementing two-suture procedures. hands. Modalities of the present disclosure can facilitate improved accuracy and can help to reduce or eliminate human error.
    [0057] [0057] Positional accuracy can be improved with respect to the modalities of this disclosure through the use of systems that incorporate one or more cameras, sensors, articulation arms, automated accessories, etc., and / or a combination of more than one of same for correct positioning and identification of the desired positions (for example, suture positions, etc.), as in relation to the suture of the frame and the skirt of a transcatheter heart valve or other target device. Quality-controlled feedback to further improve manufacturing quality can also be implemented, for example, using sensors, images and / or feedback mechanisms.
    [0058] [0058] The modalities disclosed here provide systems, devices, methods, etc. for the performance of one or more operations (for example, suturing operations, analysis or inspection operations and / or other operations) for prosthetic implant devices (for example, prosthetic heart valves) for humans and / or other types of devices or components. The systems contained herein can be fully or mainly automated systems. Fully or mainly automated systems can include one or more automated accessories. For example, a first automated accessory (which can be the same or similar to the automated accessories or automated suture accessories described and illustrated here) can be used to articulate and move an implant device to various desired positions for operations or processing steps (for example, suture, treatment, applications, etc.), while a second accessory or automated device can be used to perform operations or processing steps at the various desired positions. For example, the second automated accessory can act similar to a sewing machine that moves a needle in and out (for example, it can be made in a single plane and / or along a linear or curved path) to add the sutures to a target or implant device while the first automated accessory moves the target or implant device to the correct position in order to receive the desired suture in the correct location on the target or implant device. The automated sewing systems described here can be programmed with a previously specified sewing pattern of an implant or heart valve. Suture tension management can also be used to maintain and use proper tension.
    [0059] [0059] In certain implementations, a fully (or mainly) automated sewing process for one or more sewing operations may include two automated subsystems or accessories, in which an automated subsystem or accessory is configured to sew the pattern, translating the movement of a needle while the other automated subsystem or accessory is coordinated or synchronized with it and can use a multi-axis articulated arm (for example, a five-axis robotic arm) to grab and move the target implant as desired for sewing. Within the sewing subsystem or automated accessory, several types of needles can be used. In addition, the sewing subsystem or automated accessory may include a suture tensioning device configured to keep the suture or thread attached to the needle at constant tension to avoid problems associated with looseness in the suture or thread (for example, entanglement risk etc.).). The implant retention subsystem or automatic accessory can include tweezers that do not damage the implant and can be configured to accurately map the path of the implant retention device and an implant held by it.
    [0060] [0060] Figure 7 illustrates a block diagram of an exemplary suture system 700 and Figure 8A illustrates a perspective view of an exemplary version of system 700. One or more components of system 700 can be used to suture valve devices cardiac or other implant devices, as described herein. The representation of system 700 in Figures 7 and 8A is intended to be illustrative and not limiting, so that several components illustrated in Figures 7 and 8A can be omitted from system 700 and other components not shown in Figures 7 and 8A can be added to system 700 These are not drawn to scale and components can be of various sizes. For example, in certain implementations, the needle is configured to be smaller than shown in Figure 8A to make the suture line and perforations smaller and more accurate.
    [0061] [0061] As shown in Figure 7, system 700 can include one or more power inputs, a first automated accessory 710 (for example, like a sewing machine), a second automated accessory 720 (for example, like a robot) multi-axis or a five-axis robot), a feedback microcontroller (MCU) unit, etc. In some embodiments, the energy input is the output energy (for example, 110 volts) that can be configured to power one or both automated equipment (for example, one or both of an articulated arm and a sewing machine) , but other power inputs are also possible.
    [0062] [0062] The first automated accessory 710 may include a controller (for example, microcontroller), one or more actuators, a wire or suture feeding system, programming, needle holder or needle clamp, circuits, a constant voltage component , arduino, a clamp motor, one or more sensors, wiring and / or other components. The second automated accessory 720 may include a controller (e.g., microcontroller), one or more actuators, a gripping accessory, programming, circuits, one or more sensors, CM-700, wiring and / or other components. The first automated accessory 710 and the second automated accessory 720 can be integrated and synchronized to perform sewing functions with the first automated accessory 710 (eg, sewing machine) performing suture operations on an implanted target device maintained and moved to the desired positions by the second automatic accessory 720 (for example, a multi-axis robotic arm).
    [0063] [0063] In some embodiments, the system 700, for example, one or more of the automated accessories, includes one or more controllers (for example, microcontrollers) configured to direct one or more components of the automated accessories and / or other components according to a suture process. The controller (s) may comprise one or more hardware and / or software components designed to generate and / or provide accessory control signals (e.g., suture fixation control signals) and / or data associated with one or more stages of a suturing process. For example, the controller (s) may comprise a computing device including one or more processors, as well as one or more data storage devices or components, which may include volatile data storage media and / or non-volatile. In certain embodiments, the data store is configured to store process script data (for example, suture process script data), which can comprise data indicating the placement of one or more components and / or accessories of the 700 system to various stages and / or stages of the suture process. A process comprising a plurality of steps can be represented at least in part by numeric or other data sets, representing positioning information for one or more components of the automated accessories and / or one or more additional components of the system 700 for each step or stage of the process. For example, a suturing process comprising a plurality of suturing steps can be represented at least in part by numeric or other data sets that represent positioning information for one or more system components and / or system accessories 700 for each respective stage or stage of the suture process.
    [0064] [0064] The automated accessory 710 can comprise a needle 740. Several needles can be used. A non-corrosive curved needle comprising one or more of NiTi / Nitinol, Delrin, chrome-cobalt, ABS plastic, PEEK plastic, strong plastic having a polycarbonate base can be used. The 740 needle can be curved in a semicircular shape or in a curved shape that does not form a complete circle. For example, in certain implementations, the needle has a curved shape, forming an arc between 70 degrees and 220 degrees of rotation of a circle or between 100 degrees and 190 degrees.
    [0065] [0065] The automated accessory 710 may comprise a needle clamp or needle gripping mechanism configured to hold the needle during the sewing process. The needle clamp can comprise a drill chuck tool holder, can use vacuum pressure, can comprise a mechanical fastener, etc. The automated accessory 710 may also comprise a tensioning device 730, as the system used to secure the thread spool that is easily adjustable can keep the thread at constant tension. The tensioning device may comprise a spring system; a system of screws and springs; a system of screws, nuts and springs; a bobby tension meter; a PID controller; etc.
    [0066] [0066] The automated accessory 720 may include a support or support set (for example, tweezers or gripping accessories) configured to hold the target implant while sewing takes place. For example, a clamp may be a multi-pointed clamp (for example, a two- or three-pointed clamp) configured to hold the implant while sewing is taking place. Optionally, the clamp can be an internal clamp, a pointed clamp, a 3D printed clamp, a protected clamp or another type of clamp. In some embodiments, a suture target support set configured to hold or secure the suture target (e.g., the prosthetic implant device) may be similar to the target support set illustrated in Figure 10.
    [0067] [0067] The automated accessory 720 can also include several sensors. For example, the fitting may include sensors to detect the position and rotation of the valve fitting during the sewing process and the forces involved in the process. For example, the automated accessory 720 may also include a clamping force sensor, which can be configured to relay the force that the clamp exerts on the implant. The automated accessory 720 may also include a gyroscope sensor, which can be configured to measure the rotation of the second automated accessory or an articulation arm thereof. The automated accessory 720 may also include an accelerometer sensor, which can be configured to measure the position of the final effector of the automated accessory or an articulation arm thereof.
    [0068] [0068] While sewing operations with multiple sutures or threads are possible, in certain implementations, the automated accessory 720 is configured to perform a single suture or thread sewing operation to reduce the amount of suture or thread used and the volume of the implant . The automated accessory 710 can be configured as a modified hemming machine with a curved needle, so the needle transfer process after each pass through the material can be eliminated to allow for a single thread operation. One way to do this is to use a machine that can sew or apply a suture or thread similar to a hemming machine or a blind stitch hemming machine, where the machine has been specially adapted and sized for use in an implant and coordinated with an automated accessory , which automatically moves the implant as desired during suture. Examples of procedures using these machines are illustrated in Figures 8B-80. The curved needle may include an eyelet near the sharp or penetrating end of the needle (or between the end and another point along the needle, for example, the middle of the needle) through which the suture or thread passes and the curved needle can direct the needle. suture or thread into and out of the material (for example, a cap, seal, leaflet or other material) being sewn on a stent or frame as the curved needle rotates. The automated accessory 720 may also include components that form and pull loops on the suture or thread to combine with other portions of the suture to form the stitches along the device. The automated accessory 710 is configured to move, rotate, etc. the target implant when the automated accessory 720 sews (for example, moving the curved needle along a fixed path) to create a desired suture pattern. The movement of the target implant occurs in three dimensions. Automated equipment can be programmed, coordinated, synchronized to work together to achieve a variety of desired suture patterns on a variety of implants.
    [0069] [0069] Figures 8B-8H illustrate an example process for forming a stitch on a target device or suture target with a fabric or other material 716 (for example, skirt 116 described in relation to Figure 1) to be attached to a support structure 712 (for example, the frame 112 described in relation to Figure 1). The Figures illustrate the process using a side cross-sectional view of the material or fabric 716 and the support structure 712 for simplicity and clarity. As illustrated in Figure 8B, the process uses a needle 740 and a stitch dowel 745 in an automated accessory (for example, the automated accessory 710, an automated sewing accessory, etc.) in which the movement of the needle 740 and the movement point dowels are coordinated and / or locked together by using a common motor, common gears or similar. Needle 740 can be a curved needle or a straight needle. Needle 740 holds a suture 743 which is passed through an eye of needle 740. Stitch dowel 745 includes two or more teeth configured to retain a portion of suture 743 and to form a loop with that portion of suture 743 during the process sewing. Needle 740 can be configured to pass between the teeth of the stitch dowel 745 to form a stitch on the material or fabric 716.
    [0070] [0070] Figure 8C illustrates needle 740 being inserted through the skirt 116, so that the suture passes through the skirt at the insertion point. FIG. 8D illustrates the stitch passer 745 moving towards needle 740, so that the stitch passer passes between a portion of suture 743 and needle 740. Figure 8E illustrates needle 740 being withdrawn through the same insertion point. Suture 743 remains wrapped around stitch seam 745 to hold a portion of suture 743 on the opposite side of material or fabric 716 as the withdrawn needle 740. Figure 8F illustrates the stitch seam rotating to form a loop in suture 743. In addition, the material or fabric 716 is moved relative to the needle 740 (for example, by the movement of an automated accessory or other means). The figure
    [0071] [0071] Figures 8I - 8O illustrate another example process for forming a stitch on a target or suture device with a material or fabric 716 to be attached to a support structure
    [0072] [0072] Figure 8I illustrates the curved needle 740 that secures suture 743 through an eye of needle 740 at a distal end of needle 740. Seam dowel 745 includes multiple teeth configured to secure a portion of suture 743 during the process . Stitch dowel 745 is configured to retain a portion of suture 743 while needle 740 is removed through the insertion points.
    [0073] [0073] Figure 8J illustrates needle 740 forming two insertion points that pass through the material or fabric 716 under the support structure 712. The two insertion points are configured to be in complementary directed places to form a point that holds the material or fabric 716 to the support structure 712. Figure 8K illustrates stitch dowel 745 moving towards needle 740 to secure a portion of the suture. Stitch dowel 745 passes between a portion of suture 743 and needle 740 to secure suture portion 745. Figure 8L illustrates needle 740 being removed through the same insertion points that needle 740 just created while the dowel 740 stitch 745 holds a portion of suture 743 so that suture portion 743 does not pass through these insertion points. Figure 8M illustrates the stitch dowel 745 moving towards the withdrawn needle in a way that also rotates the dowel 745. This movement produces a loop in suture 743. Figure 8N illustrates the fabric 716 being moved so that, as the 740 needle is advanced again, it creates two new insertion points. As needle 740 advances, it passes through the loop formed by suture 743 in stitch dowel 745. Figure 8O illustrates the dowel 745 after it has been removed and returned to its starting point. This movement of the dowel 745 causes the loop formed by suture 743 to be removed from the dowel 745. In addition, the advance of needle 740 through the two new insertion points pulls the loop formed by suture 743 to tighten the loop around suture 743, thus forming the point 756. This process is repeated in the step illustrated in Figure 8J to form additional points.
    [0074] [0074] Advantageously, the processes described and illustrated in Figures 8B-80 can be used to form stitches on a fabric in which the needle used to form the stitches is never released during the process.
    [0075] [0075] With reference to Figures 7 and 8A, the system 700 can include a frame on which one or more automated accessories (for example, the automated accessory 710 and the automated accessory 720, etc.) can be mounted. In some embodiments, a frame measuring 16 "x 12" x 12 "can be used. The sides of the frame can be closed or the sides of the frame can be opened, so that an operator can see the process going on and examine the device in detail. error search The automated accessory 720 can be mounted in front of the machine so you can leave the sewing area, pick up the target implant and rotate back to the sewing area.
    [0076] [0076] In certain embodiments, the automated suture accessory or accessories comprise one or more motorized actuators (for example, servo actuators) physically coupled to each other. When building automated suture accessories using one or more motor components (for example, servo motor components), the 700 system can be relatively inexpensive and / or advantageously provide an improved range of motion as well as multiple axes of rotation. In certain embodiments, one or more of the automated suture devices comprises a plurality of actuator devices (for example, servo actuator devices) chained together and implemented using a software script to provide cooperative functionality for the purpose of positioning the device. target implant. For example, actuator devices or servo actuator devices (for example, servomotor devices) can be mounted or configured to be mounted, horizontally or vertically or at an angle, and can be pivoted in any direction.
    [0077] [0077] In some embodiments, the second accessory or automated suture set comprises one or more components configured to articulate, operate and / or position one or more motorized actuators to present a target device (for example, a heart valve, implant or other suture target), in a desirable or suitable position or presentation for engagement or convenient interaction with another electrical device performing at least part of a process (for example, a suture process). In certain embodiments, the automated suture accessory includes a plurality of motorized actuators that are mounted, attached or connected to each other in a desirable configuration to provide a desirable range of motion for the automated accessory (e.g., automated suture accessory) for the purpose of articulating a target (for example, a suture target) associated or maintained by the automated accessory. In certain embodiments, a target support component or set can be associated with or connected to one or more of the motorized actuators. Motorized actuators can each comprise one or more rotating or otherwise articulated members driven by a motor or the like. Examples of automated suture accessories and associated components are illustrated in more detail in Figures 7 and 8A and are described here in more detail in connection with them.
    [0078] [0078] In certain modalities, the controller (s) provides one or more control signals to direct the positioning and / or operation of the accessories (or motorized actuators of the accessories) based on a positioning script, suture process script and / or user input provided by an operator. For example, system 700 (or a system 1000 described here with reference to Figure 9) may include a user input device (for example, such as user input device 1010 illustrated in Figure 9), which can be used by an operator to provide input initiating or directing the operation of the controller and / or automated suture fixation set. For example, the 1010 user input device can comprise any suitable user input interface, such as a mechanism for user input in connection with a graphical user interface associated with an electronic display, where an operator can provide input via of interaction with the interface. In some embodiments, the user's input device comprises one or more physical switches, buttons, pedals, sensors or the like, in which a user can provide input by activating such mechanisms. In some embodiments, input can be provided using voice commands and / or speech recognition software. A signal or signals can be transmitted to advance from one stage or stage of the present suturing operation to a subsequent stage or stage, for example, an input can be provided to the controller to advance the system through a script that moves the automatic attachment and the target for each position in sequence. They can be coordinated so that the target is always moved to a position where the known and consistent path or fixed path of the needle does not come into contact with an implant frame or metal to avoid damage to the needle and other problems.
    [0079] [0079] The configuration of the automated suture accessory (s) can provide a weight and / or size for the automated suture accessory (s) which is (are) relatively small ( s) and convenient (s) for use in applications designed to assist in the positioning and manipulation of small devices, such as the human prosthetic implant. The relatively small size of the system and the automated fixture also allows for use in a more compact workspace, such as those often used to suture prosthetic heart valve implants, for example, the small size can fit and be used even on a table relatively small, which allows a more efficient use of the construction and work areas. In certain embodiments, the individual actuator devices (e.g., the individual servo actuator devices) of the automated suture device (s) comprise brushless potentiostat and / or magnetic encoding devices. In certain embodiments, the actuator devices are implemented using piezoelectric control with analog voltage signals. In certain embodiments, one or more components of the automated suture device (s) are controlled using pulse width modulation control signals, such as control signals spaced between 0 to 2 µs, for example. In certain embodiments, multiple motor components (for example, multiple servomotor components) of the automated suture accessory (s) share one or more common conductors with a multiplexed signal, such as a three-conductor connection. In certain embodiments, automated suture accessories comprise four or five or more servomotor devices. The devices and accessories disclosed herein may be remotely controllable or partially remotely controllable.
    [0080] [0080] Suture systems according to the present disclosure may comprise one or more automated suture accessories, for example, an automated suture accessory 720 for articulating a suture target (e.g., human heart valve prosthetic implant) for a desired suture position or other process position. Figure 9 illustrates a block diagram illustrating an exemplary control system 1000 for controlling an automated 1070 suture accessory. The 1070 automated suture accessory
    [0081] [0081] In certain embodiments, controller 1030 includes one or more processors and / or controller circuits configured to access suture script information 1034 or other script or program information maintained by the controller in the data storage thereof, or accessed by controller 1030. Controller 1034 may include 1032 positioning control circuits designed to interpret suture script information or other script or program information and generate control signals to control the 1070 automated suture accessory and / or other automated accessory based , at least in part, the same.
    [0082] [0082] Suture script information 1034 or other script or program information may comprise sequential positioning information for one or more components of the 1070 automated suture accessory (s) in relation to one or more processes suture or other processes that the 1030 controller is designed to implement. For example, in some embodiments, the 1032 positioning control circuit is configured to provide position information for each step in a sequential suturing process. Advance from one position step to another can be directed by the 1030 controller based on a timer, user input or other mechanism.
    [0083] [0083] The automated suture accessory 1070 can include a plurality of motorized actuators 1071, which can be communicatively coupled to the controller 1030. In certain embodiments, the motorized actuators are coupled together in a chain-link configuration, where two or more of the motorized actuators are coupled or connected in sequence.
    [0084] [0084] Each of the 1071 motorized actuators can include a motor, such as a DC, AC or brushless DC motor. The motor can be a servo motor. In certain embodiments, the 1072 motor is controlled using pulse coded modulation (PCM), as directed by the 1076 motor control circuit. For example, the 1076 motor control circuit can apply a pulse application for a specified period of time. , wherein the angular positioning of a rotor component 1073 is determined at least in part by the length of the pulses. The amount of energy applied to the 1072 motor can be proportional to the rotational distance of the rotor 1073.
    [0085] [0085] In certain embodiments, motorized actuators are servo actuator devices, including one or more 1074 servo feedback components, such as a position sensor (for example, a digital encoder, magnetic encoder, laser (s), etc.) . The use of the 1074 servo feedback component (s) may be desirable in order to achieve a desirable level of confidence that the 1071 motorized actuators are positioned as indicated by the 1030 controller with an acceptable degree of accuracy. The servo feedback component (s) 1074 can provide an analog signal to the motor control circuit 1076 indicating a position and / or speed of the rotor 1073, which can advantageously allow relatively position control. accurate to get a stable and accurate rotor position more quickly. The relatively accurate positioning of an implant device may be necessary or desirable due, at least in part, to the dimensions of the material or tissue of a heart valve or other implant device that is sutured in an implant suture operation using the implant accessory. automated 1070 suture. For example, the tissue or other material being sutured may comprise woven threads forming ribs with relatively small intervals between them. In certain embodiments, the 1070 automated suture accessory can be configured to articulate a human prosthetic implant device sutured to an accuracy of 0.2 mm or less. Although servomotor devices and components are described, in some embodiments, one or more motorized actuators may comprise stepper motors or other types of motor subsystems.
    [0086] [0086] Motorized actuators 1071 may further comprise motor control circuit 1076, which can drive motor 1072 according to the control signals received from controller 1030. In certain embodiments, motor 1072, in combination with the servo mechanism feedback 1074 and / or motor control circuit 1076, can be advantageously configured to hold rotor 1073 and / or connected support member in a defined position for desired periods of time. The 1072 motor can provide relatively smooth switching and / or precise positioning of the associated 1073 rotor. The 1072 motor can be relatively powerful in relation to its size and can consume energy proportional to the mechanical load present in the 1073 rotor and / or associated support member.
    [0087] [0087] In some embodiments, the servo-feedback component 1074 comprises a potentiometer that is connected to the rotor 1073, which can be the output device of the motorized actuator 1071. Rotor 1073 can be connected to the potentiometer and the control circuit 1076, where the potentiometer, together with signals from the control circuit, controls the rotor angle 1073 (and associated support member) in a rotation range, such as between 0 ° -180 ° or more. In certain embodiments, the rotation range of rotor 1073 is restricted by one or more mechanical stops, which can be incorporated into the associated gear mechanisms. The potentiometer (or other servo mechanism, such as an internal rotary encoder) can allow the 1076 control circuit to monitor the current angle of the motor or rotor. When rotor 1073 is at the correct angle, motor 1072 can be idle until the next positioning signal is received from the controller
    [0088] [0088] The automated suture accessory 1070 may further include a suture target device or support set 1080 (while called a suture target support or set in this document, this may be another type of device, forceps or support set to hold devices or target components for other procedures). The suture target support 1080 can be physically coupled to one of the motorized actuators 1071, such as the actuator device of the distal extension arm of the plurality of actuators. The suture target support 1080 can be configured to maintain or have a heart valve prosthetic device or other human implant prosthetic device mounted on it, which is desired to be sutured. The suture target support 1080 can have any suitable or desirable shape, configuration and / or dimensions and can be configured to hold or secure a target device or implant device in several different ways. An example modality of the suture target device or support set is described below in connection with Figure 10. However, it should be understood that such modality is provided merely as an example, and other types of suture supports can be implemented in disclosed systems.
    [0089] [0089] Figure 10 illustrates an articulation arm 1878 and / or one or more actuators coupled to an exemplary support component
    [0090] [0090] The 1880 support component can be designed for a specific application, such as a transcatheter heart valve suture application, or a surgical heart valve suture operation or other implant suture procedure. The valves can be for animal use (for example, for humans). Although a surgical valve configuration is illustrated in Figure 10, it should be understood that the support device 1880 and / or other components of Figure 10 can be designed or configured to support suture and / or other processes for a transcatheter or cardiac valve another valve or other device. For example, although the diagram in Figure 10 illustrates a cylindrical shape 1885 designed to hold the implant device 1818 in a desired position, such a cylindrical shape may not be necessary with respect to a transcatheter heart valve. For example, in place of cylindrical shape 1885, support 1880 can be configured to attach a rigid cylindrical wire frame to a transcatheter heart valve, a modality of which is illustrated and described above in connection with Figure 1
    [0091] [0091] The specific type of support that is used for a procedure or application (for example, for a suture care application) can be determined on a process-by-process basis. That is, specific adapters may be suitable or desirable for each of the separate operations or procedures, or for separate types of valves or other targets. In certain embodiments, a single suture procedure for an implant device may involve the use of several different types of support devices.
    [0092] [0092] A suture procedure can be performed after programming a suture system with a specific procedure, program or script. One or more computer components, such as one or more processors and / or memory devices, can be used to store and execute a procedure directing script or program, so that a procedure script or program can be played back for an operator on demand.
    [0093] [0093] The procedure may include loading a suture process script or program, which can be pre-programmed. The desired script or program can be loaded in several ways, for example, by providing input to the system or to a system computer to load the desired script or program from storage or memory.
    [0094] [0094] The procedure may involve triggering the positioning of an automated suture accessory (or automated accessory) and / or executing a suture operation or other operation or step.
    [0095] [0095] After the suture operation or other operation or step has been performed, if the relevant suture operation or other operation or step represents an operation or final step of the suture procedure or other procedure, the process may terminate. However, if additional steps of the suture operation or procedure or other operation or procedure remain, the process can repeat the triggering, positioning or execution steps in which a subsequent step in the suture process or procedure can be triggered, so that the process 1700 may involve the completion of subsequent steps.
    [0096] [0096] Depending on the modality, certain acts, events or functions of any of the processes or algorithms described here can be executed in a different sequence, they can be added, merged or completely deleted. Thus, in certain modalities, not all the acts or events described are necessary for the practice of processes. In addition, in certain modalities, acts or events can be performed simultaneously and not sequentially. For example, multi-threaded processing, interrupt processing and / or multiple processors or processor cores can be used.
    [0097] [0097] The conditional language used herein, such as, among others, "may", "could", "may", "could", "for example" and the like, unless specifically stated otherwise or understood otherwise within the context used, it is intended in its common sense and generally intended to convey that certain modalities include, while other modalities do not include, certain characteristics, elements and / or stages. Therefore, this conditional language generally does not imply that resources, elements and / or steps are in any way necessary for one or more modalities or that one or more modalities necessarily include logic to decide, with or without the author's input or request, if these resources, elements and / or steps are included or must be performed in any specific modality. The terms "comprising", "including", "having" and the like are synonymous, are used in the common sense and are even used, in an open manner, and do not exclude elements, resources, acts, operations and so on. In addition, the term "or" is used in its inclusive sense (and not in its exclusive sense), so that when used, for example, to connect a list of elements, the term "or" means one, some or all the elements in the list. Conjunctive language, such as the phrase "at least one of X, Y and Z", unless otherwise specified, is understood with the context generally used to convey that an item, term, element, etc. it can be X, Y or Z. Thus, this conjunctive language does not generally mean that certain modalities require at least one of X, at least one of Y and at least one of Z for each to be present.
    [0098] [0098] It should be appreciated that, in the description above the modalities, several characteristics are sometimes grouped into a single modality, figure or description of them, with the objective of simplifying the dissemination and helping in the understanding of one or more of the various aspects of invention. This method of disclosure, however, should not be interpreted as reflecting an intention that any claim will require more resources than those expressly cited in that claim. In addition, any components, features or steps illustrated and / or described in a specific modality in this document can be applied or used with any other modality. In addition, no component, characteristic, stage or group of components, characteristics or stages are necessary or indispensable for each modality. Thus, it is intended that the scope of the inventions disclosed and claimed below is not limited by the particular modalities described above, but should be determined only by a fair reading of the following claims.
    [0099] [0099] The methods described in this document include steps that are indicative of one or more modalities of the method presented. Other steps and methods can be designed that are equivalent in function, logic or effect to one or more steps, or parts of them, of the procedures or methods described here. In addition, the order in which the steps of a specific method occur may or may not strictly adhere to the order of the corresponding steps described. Components, characteristics, steps, etc. described in relation to one modality here can be combined or included in other modalities described here elsewhere.
    [0100] [0100] The components, aspects, characteristics, etc. systems, assemblies, devices, devices, methods, etc. described here can be implemented in hardware, software or a combination of both. Where components, aspects, resources, etc. systems, assemblies, devices, devices, methods etc. described here are implemented in software, the software can be stored in an executable format in one or more non-transitory machine-readable media.
    In addition, the software and related steps of the methods described above can be implemented in the software as a set of data and instructions.
    A machine-readable medium includes any mechanism that provides (for example, stores and / or transports) information in a machine-readable way (for example, a computer). For example, a machine-readable medium includes read-only memory (ROM); random access memory (RAM); magnetic disk storage media; optical storage media; flash memory devices; DVDs, electrical, optical, acoustic or other forms of propagated signals (for example, carrier waves, infrared signals, digital signals, EPROMs, EEPROMs, FLASFI, magnetic or optical cards or any other type of media suitable for storing electronic instructions, systems and / or methods stored in the machine-readable medium can be used in the process of creating the units, systems and / or methods described here.
    The hardware used to implement the invention may include integrated circuits, microprocessors, FPGAs, digital signal controllers, flow processors and / or other components
    权利要求:
    Claims (20)
    [1]
    1. Method of suturing an implant device, characterized by the fact that it comprises: placement of the implant device in a support component of a first automated accessory; directing the first automated accessory to position the implant device in a first position; directing a second automated accessory to perform a first stitch on the implant device by passing a curved needle in and out of a material being sutured to the implant device; directing the first automated accessory to position the implant device in a second position; and directing the second automated accessory to perform a second point on the implant device by passing the curved needle in and out of the material being sutured to the implant device, the second automated accessory including a stitch passer that moves in coordination with the needle curves to form the first point and the second point.
    [2]
    2. Method according to claim 1, characterized in that the implant device is a prosthetic heart valve.
    [3]
    Method according to any one of claims 1 to 2, characterized in that it also comprises directing the first automated accessory to circumferentially rotate the implant device in place.
    [4]
    4. Method according to any one of claims 1 to 3, characterized in that it also comprises the loading of a pre-programmed suture procedure script using one or more processors configured to control at least partially the first automated accessory and the second automated accessory.
    [5]
    Method according to any one of claims 1 to 4, characterized in that the second automated accessory uses the curved needle to perform the first stitch, so that the first stitch is a single suture stitch.
    [6]
    Method according to any one of claims 1 to 5, characterized in that the curved needle passes in and out of the material along a fixed path of the curved needle.
    [7]
    Method according to any one of claims 1 to 6, characterized in that the stitch passer includes two or more teeth to hold a portion of the suture as the curved needle is removed through the insertion points formed during formation of the first point.
    [8]
    Method according to claim 7, characterized in that the stitch passer is configured to rotate in order to form a loop with the suture portion to form the first point.
    [9]
    9. Method according to claim 8, characterized in that the curved needle passes through the loop formed by the stitch dowel in order to form the first stitch.
    [10]
    Method according to any one of claims 1 to 9, characterized in that the curved needle passes through a tissue of the implant device in two different locations for each of the first point and the second point.
    [11]
    11. Suture system, characterized by the fact that it comprises: a first automated accessory comprising a plurality of motorized actuator devices and a suture target holder, the first automated accessory being configured to rotate the target suture device when mounted on the suture holder suture target; a second automated accessory comprising a curved needle that is configured to move the curved needle in a fixed path and a stitch dowel with a plurality of teeth configured to fix a portion of a suture and form a loop using the suture portion as the curved needle moves in the fixed path; and wherein the first automated accessory and the second automated accessory are arranged in relation to each other and configured so that the first automated accessory can move the target suture device in three dimensions to position the suture device in the path of the curved needle a in order to implement a standard predetermined suture in the target suture device.
    [12]
    12. Suture system according to claim 11, characterized in that the target suture device is a heart valve.
    [13]
    13. Suture system according to claim 11 or 12, characterized in that the first automated accessory comprises a first controller configured to direct the first automated accessory as to how to position the target suture device.
    [14]
    14. Suture system according to any of claims 11 to 13, characterized in that the second automated accessory comprises a second controller configured to direct the second automated accessory when moving the curved needle to implement the suture pattern.
    [15]
    Suture system according to any one of claims 11 to 14, characterized in that the second automated accessory includes a tensioning device that can maintain a suture in a state of constant tension when implementing the suture pattern.
    [16]
    Suture system according to any one of claims 11 to 15, characterized in that the first automated accessory is configured to move the target suture device in at least four directions.
    [17]
    17. Suture system according to any one of claims 11 to 16, characterized in that the first automated accessory comprises an articulation arm.
    [18]
    18. Suture system according to any one of claims 11 to 17, characterized in that the second automated accessory is configured so that the curved needle is used to implement the suture pattern as a single suture seam.
    [19]
    19. Suture system according to any one of claims 11 to 18, characterized in that the movement of the curved needle is blocked by the movement of the stitch passer.
    [20]
    20. Suture system according to any one of claims 11 to 19, characterized in that the stitch passer moves along a second fixed path that includes the rotation of the stitch passer to form the loop using the suture.
    类似技术:
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    同族专利:
    公开号 | 公开日
    CA3088173A1|2019-07-18|
    WO2019140293A1|2019-07-18|
    IL275709D0|2020-08-31|
    EP3737337A1|2020-11-18|
    KR20200108865A|2020-09-21|
    AU2019208035A1|2020-07-09|
    JP2021510570A|2021-04-30|
    CN111741732A|2020-10-02|
    SG11202006045QA|2020-07-29|
    US20210000591A1|2021-01-07|
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    WO2021035032A1|2019-08-20|2021-02-25|Vdyne, Inc.|Delivery and retrieval devices and methods for side-deliverable transcatheter prosthetic valves|
    US11234813B2|2020-01-17|2022-02-01|Vdyne, Inc.|Ventricular stability elements for side-deliverable prosthetic heart valves and methods of delivery|
    法律状态:
    2021-12-07| B350| Update of information on the portal [chapter 15.35 patent gazette]|
    优先权:
    申请号 | 申请日 | 专利标题
    US201862617114P| true| 2018-01-12|2018-01-12|
    US62/617,114|2018-01-12|
    PCT/US2019/013340|WO2019140293A1|2018-01-12|2019-01-11|Automated heart valve sewing|
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