How did Copernicus build on the work of Science in the Middle Ages

Polish astronomer Copernicus chage paradime inhiscs and stronomy due to hsi discovery and developemnt of heliocentric system but we must rememebr that he was using scientific achivemnts and method developed during High Middle Ages and later he tutor who insired him was Wojciech of Brudzewo a profesor of astronomy and mathematics and Jagiellonian University in Krakow