Patent ID: 11945112
Assignee: THE BOARD OF TRUSTEES OF THE LELAND STANFORD JUNIOR UNIVERSITY
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 16:
17. 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.