US 12,297,416 B2
System and method for transferring tissue
Michael C. Tilley, Amherst, NH (US); Richard E. Andrews, Chula Vista, CA (US); and Dane C. Fawkes, Amesbury, MA (US)
Assigned to DEKA Products Limited Partneship, Manchester, NH (US)
Filed by DEKA Products Limited Partnership, Manchester, NH (US)
Filed on Mar. 4, 2024, as Appl. No. 18/594,189.
Application 18/594,189 is a continuation of application No. 18/084,183, filed on Dec. 19, 2022, granted, now 11,939,564.
Application 18/084,183 is a continuation of application No. 17/140,459, filed on Jan. 4, 2021, granted, now 11,530,380, issued on Dec. 20, 2022.
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 of application No. 15/648,391, filed on Jul. 12, 2017, granted, now 11,254,901, issued on Feb. 22, 2022.
Prior Publication US 2024/0200011 A1, Jun. 20, 2024
This patent is subject to a terminal disclaimer.
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, comprising:
a plurality of bioreactors, each having a tissue enclosure for receiving delivered tissue, the tissue enclosure including a plurality of control points, the tissue enclosure including production line mounting features;
a multi-axis, multi-dimensional robotic printer having a delivery device operably coupled with the printer, the delivery device delivering tissue to be printed to said tissue enclosure;
a controller controlling the motion of said robotic printer, said controller accessing a design and converting the design to coordinates that direct the robotic printer to print tissue into each tissue enclosure, the controller executing commands including:
accessing parameters associated with the design;
pathing of the design based on the parameters to producing coordinates of the design; and
transferring the coordinates from the controller to the robotic printer;
a motion controller within the robotic printer processing the coordinates including: converting coordinates to delivery 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 delivery points; and printing the tissue into each tissue enclosure by commanding the printer based on the at least one motion command.