US 11,939,564 B2
System and method for transferring tissue
Michael C. Tilley, Amherst, NH (US); Richard E. Andrews, Manchester, NH (US); and Dane C. Fawkes, Amesbury, MA (US)
Assigned to DEKA Products Limited Partnership, Manchester, NH (US)
Filed by DEKA Products Limited Partnership, Manchester, NH (US)
Filed on Dec. 19, 2022, as Appl. No. 18/084,183.
Application 18/084,183 is a continuation of application No. 17/140,459, filed on Jan. 4, 2021, granted, now 11,530,380.
Application 17/140,459 is a continuation of application No. 16/752,121, filed on Jan. 24, 2020, granted, now 10,894,942, issued on Jan. 19, 2021.
Application 16/752,121 is a continuation of application No. 16/117,225, filed on Aug. 30, 2018, granted, now 10,570,362, issued on Feb. 25, 2020.
Application 16/117,225 is a continuation in part of application No. 15/648,391, filed on Jul. 12, 2017, granted, now 11,254,901, issued on Feb. 22, 2022.
Claims priority of provisional application 62/553,355, filed on Sep. 1, 2017.
Prior Publication US 2023/0193183 A1, Jun. 22, 2023
Int. Cl. C12M 1/32 (2006.01); A61L 27/36 (2006.01); C12M 1/26 (2006.01); C12M 3/00 (2006.01); C12N 5/00 (2006.01)
CPC C12M 33/06 (2013.01) [A61L 27/3608 (2013.01); A61L 27/3633 (2013.01); C12M 21/08 (2013.01); C12M 33/00 (2013.01); C12N 5/0062 (2013.01); C12N 2513/00 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A bioprinting system for multi-dimensional robot controlled printing of tissue into a tissue enclosure, the bioprinting system comprising:
a multi-axis, multi-dimensional robotic printer including a robot controller controlling the motion of the printer, and a delivery device operably coupled with the printer, the delivery device delivering tissue to be printed;
a tissue enclosure including a space for receiving the delivered tissue, the tissue enclosure including a plurality of control points enabling entry of the delivery device, the tissue enclosure including production line mounting features;
a computer accessing a design of the tissue, the computer converting the design to coordinates that the multi-dimensional printer can use to print tissue into the tissue enclosure, the computer executing computer commands including:
accessing parameters associated with the computer commands;
pathing of the design based on the parameters, the pathing producing robot coordinates of the design; and
transferring the robot coordinates from the computer to the multi-dimensional printer;
a robot controller processing the robot coordinates including:
converting the robot coordinates to robot points, an approach vector, an orientation vector, and at least one path;
choosing a robot figure for each path based on a desired robot position and range of motion;
determining a translation data type based on the approach vector, the orientation vector, and the robot figure;
creating at least one motion command based on the translation data type and the robot points; and
printing the tissue into the tissue enclosure by commanding the printer based on the at least one motion command.