Laparoscopic suturing devices, needles, sutures, and drive systems

Abstract

Devices are provided for a suturing device used during laparoscopic surgical procedures. A suturing needle includes a shaft forming a rod axis; a curved body having a piercing tip at a first end and a base at a second end; and an arm extending radially from the shaft to the base of the curved body such that the curved body is positioned in a plane orthogonal to the rod axis of the shaft and rotatable about the shaft in the plane orthogonal to the rod axis. The suturing device includes a housing, a suturing needle, one or more sutures, a suture magazine configured to hold the one or more sutures, and a drive system, whereby the drive system may actuate the suturing needle to rotate in the plane orthogonal to the drive system, allowing the suturing needle to drive in to and out of tissue to apply a suture.

What is claimed is: 
     
         1 . A system, comprising:
 a drive system configured to couple to a surgical instrument and to transform a compressive force into actuation of the surgical instrument, thereby transitioning the surgical instrument between a first state and a second state, the drive system comprising:
 a hub, and 
 a set of handles coupled at first regions of the set of handles to the hub and configured to transmit the compressive force toward the hub to induce actuation of the surgical instrument. 
   
     
     
         2 . The system of  claim 1 , wherein the drive system further comprises a set of clamp head receiving members coupled to second regions of the set of handles. 
     
     
         3 . The system of  claim 2 , wherein the drive system further comprises a set of securing members coupled to the set of clamp head receiving members and configured to secure the set of clamp head receiving members to a grasping clamp. 
     
     
         4 . The system of  claim 3 , further comprising a forceps instrument comprising the grasping clamp, wherein the set of clamp head receiving members couples the set of clamp head receiving members to the grasping clamp of the forceps instrument. 
     
     
         5 . The system of  claim 1 , wherein the hub is coupled to a robotic interface that engages the set of handles, the robotic interface applying the compressive force. 
     
     
         6 . The system of  claim 5 , wherein the robotic interface comprises a set of forceps arms coupled to the set of handles. 
     
     
         7 . The system of  claim 6 , wherein the set of forceps arms comprises a hinge positioned between arms of the set of forceps arms, the hinge comprising a spring configured to maintain an angle of separation between arms of the set of forceps arms in a baseline state of the robotic interface. 
     
     
         8 . The system of  claim 1 , further comprising a rod configured to couple to the surgical instrument and wherein the hub comprises a tube coupled to the hub in opposition to the set of handles, the tube comprising a track defining a path of motion for the rod in response to application of and release of the compressive force. 
     
     
         9 . The system of  claim 8 , wherein the track of the tube comprises a spiral-shaped slot, such that the path of motion is a spiraling path, and wherein the rod comprises a protrusion seated within the spiral-shaped slot. 
     
     
         10 . The system of  claim 1 , wherein the surgical instrument comprises at least one of a laparoscopic device and a suturing device. 
     
     
         11 . A system, comprising:
 a rod configured to couple to a surgical instrument; and   a drive system coupled to the rod and configured to transform an applied force into actuation of the rod, thereby transitioning the surgical instrument between a first state and a second state, the drive system comprising
 a hub, 
 an elongated member extending from a first region of the hub and coupled to the rod, and 
 a coupling interface movably retained at a second region of the hub and configured to transmit the applied force toward the hub and the elongated member to induce actuation of the rod. 
   
     
     
         12 . The system of  claim 11 , wherein the elongated member comprises a track defining a path of motion for rotation of the rod in response to application of and release of the applied force. 
     
     
         13 . The system of  claim 12 , wherein the rod comprises an active region, the system comprising an operation mode wherein application of the applied force produces motion of the region of the rod along the track. 
     
     
         14 . The system of  claim 12 , wherein the track of the elongated member comprises a spiral-shaped slot, and wherein the rod comprises a protrusion seated within the spiral-shaped slot. 
     
     
         15 . The system of  claim 11 , wherein the coupling interface comprises a receiving member for a grasping clamp. 
     
     
         16 . The system of  claim 11 , wherein the coupling interface comprises a receiving member for a forceps instrument configured to provide the applied force, the forceps instrument having at least one of a manual actuation mode and a robotic arm-assisted actuation mode. 
     
     
         17 . The system of  claim 16 , wherein the coupling interface of the drive system comprises a set of handles movably retained at the second region of the hub, the coupling interface further comprising a set of clamp head receiving members coupled to distal regions of the set of handles away from the hub. 
     
     
         18 . The system of  claim 17 , wherein the drive system further comprises a set of securing members coupled to the set of clamp head receiving members and configured to secure the set of clamp head receiving members to the forceps instrument. 
     
     
         19 . The system of  claim 18 , wherein the set of handles operate in a radially contracted mode in response to the applied force, and in a radially extended mode with removal of the applied force. 
     
     
         20 . The system of  claim 11 , wherein the surgical instrument is a minimally-invasive laparoscopic device.