Robotic platforms to mimic papillary muscle motion ex vivo

US11945112B2 · kind B2 · utility

Assignee

• The Board of Trustees of the Leland Stanford Junior University · US

Inventors

• Y. Joseph Woo · Atherton, US
• Michael John Paulsen · Los Altos, US
• Annabel M. Imbrie-Moore · Stanford, US
• Matthew Park · Boise, US
• Rohun Kulkarni · Menlo Park, US

Key dates

• Filing date: Mar 1, 2021
• Grant date: Apr 2, 2024
• Expiry date: Nov 5, 2042

Classification

• Technology area (CPC G): Physics
• CPC primary: G09B23/30
• WIPO field: Handling
• WIPO sector: Mechanical engineering

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.