Apparatus and method for minimally invasive suturing

Abstract

An apparatus and method for minimally invasive suturing is disclosed. A suturing device for minimally invasive suturing includes proximal section having a proximal end, a distal end, and a longitudinal axis therebetween, a suture head assembly extending from the distal end of the proximal section; a suturing needle having a pointed end and a blunt end, the suturing needle capable of rotating about an axis approximately perpendicular to a longitudinal axis of the proximal section, wherein the pointed end of the suturing needle is positioned within the suture head assembly prior to and after rotation of the suturing needle, and an actuator extending from the proximal end of the proximal section to actuate a reciprocating needle drive having a needle driver for engaging and rotating the suturing needle.

1 - 19 . (canceled) 
     
     
         20 . A suturing device, comprising:
 a housing having proximal end, a distal end, and defining a longitudinal axis between the proximal end and the distal end, the housing defining a needle track therein to receive an arcuate suturing needle, the needle track defining a circular pathway that lays in a plane that is parallel to the longitudinal axis of the suturing device, the needle track including a first end and a second end separated by a tissue gap defined in the housing, the tissue gap being configured to receive tissue to be sutured therein; and   a needle drive disposed at least partially within the housing to drive the arcuate needle about the circular pathway defined by the needle track across the tissue gap defined in the housing, the needle drive comprising:
 a rotating linkage configured to rotate about a rotation axis that is orthogonal to the longitudinal axis of the suturing device; 
 a reciprocating linkage operably coupled to the rotating linkage, wherein reciprocation of the reciprocating linkage causes the rotating linkage to rotate about the rotation axis; and 
 a needle driver operably coupled to the rotating linkage, the needle driver comprising at least one tooth to directly engage at least one notch in the arced suturing needle to drive the arced suturing needle along the arced needle track across the gap in the housing. 
   
     
     
         21 . The suturing device of  claim 20 , wherein the needle driver is configured to rotate about a needle driver axis, the needle driver axis being perpendicular to the longitudinal axis. 
     
     
         22 . The suturing device of  claim 20 , further comprising a drive arm, wherein a proximal end of the drive arm is coupled to the rotating linkage, and the needle driver is coupled proximate a distal end of the drive arm. 
     
     
         23 . The suturing device of  claim 20 , wherein the needle driver is configured to engage the at least one notch in the arced suturing needle wherein the at least one notch is located on a radially inner edge of the arced suturing needle. 
     
     
         24 . The suturing device of  claim 20 , wherein the needle driver is configured to engage the at least one notch in the arced suturing needle wherein the at least one notch faces a geometric center of the arced needle track. 
     
     
         25 . The suturing device of  claim 20 , wherein the reciprocating linkage includes at least a first length of tension cable, wherein the at least one tension cable is coupled to a radially outward location of the reciprocating linkage. 
     
     
         26 . The suturing device of  claim 25 , further comprising at least one idler pulley located proximally with respect to the rotation axis, wherein the at least one tension cable passes over the at least one idler pulley. 
     
     
         27 . The suturing device of  claim 25 , further comprising a second length of tension cable coupled to the reciprocating linkage, wherein:
 applying tension to the first length of tension cable causes the reciprocating linkage to move along a first rotational direction about the rotation axis; and   applying tension to the second length of tension cable causes the reciprocating linkage to move along a second rotational direction about the rotation axis that is opposite to the first rotational direction.   
     
     
         28 . The suturing device of  claim 25 , further comprising a second idler pulley located proximally with respect to the rotation axis, wherein the second length of tension cable passes over the second idler pulley. 
     
     
         29 . The suturing device of  claim 26 , wherein:
 the at least one idler pulley is located proximate an articulation joint of the suturing device;   the housing is configured to articulate about the articulation joint; and   the at least one tension cable is configured to reciprocate independently of a rotational location of the housing about the articulation joint.   
     
     
         30 . A suturing device comprising:
 a housing coupled to the distal end of the elongate body, the housing comprising a proximal end, a distal end, and defining a longitudinal axis between the proximal end and the distal end, the housing defining an arced needle track therein, the arced needle track including a first end and a second end that are separated by a gap defined in the housing, the gap being configured to receive tissue to be sutured therein by the suturing needle;   a needle driver, the needle driver comprising at least one tooth to directly engage at least one notch defined in an arced suturing needle to drive the arced suturing needle along the arced needle track across the gap in the housing about a needle track axis, the needle track axis being perpendicular to the longitudinal axis of the housing;   a driver gear operably coupled to an actuator of the suturing device, the driver gear being configured to rotate about a driver gear axis that is perpendicular to the longitudinal axis; and   an idler gear operably coupled to the driver gear, the idler gear being configured to be driven about an idler gear axis that is perpendicular to the longitudinal axis, the idler gear further being operably coupled to the needle driver.   
     
     
         31 . The suturing device of  claim 30 , wherein the needle driver is configured to rotate about a needle driver axis, the needle driver axis being perpendicular to the longitudinal axis. 
     
     
         32 . The suturing device of  claim 20 , wherein the needle driver is configured to directly engage the at least one notch in the arced suturing needle wherein the at least one notch is located on a radially inner edge of the arced suturing needle. 
     
     
         33 . A suturing device, comprising:
 a housing having proximal end, a distal end, and defining a longitudinal axis of the housing between the proximal end and the distal end, the housing defining a needle track therein to receive an arcuate suturing needle, the needle track defining a circular pathway that lays in a plane that is parallel to the longitudinal axis of the housing, the needle track including a first end and a second end separated by a tissue gap defined in the housing, the tissue gap being configured to receive tissue to be sutured therein; and   a needle drive disposed at least partially within the housing to drive the arcuate suturing needle about the circular pathway defined by the needle track across the tissue gap defined in the housing, the needle drive including a drive protrusion to engage an indentation formed into an inner radial edge of the arcuate suturing needle and advance the arcuate suturing needle from a first position on a first side of the tissue gap along an arcuate path parallel to the circular pathway of the needle track to a second position on a second side of the tissue gap, the drive protrusion being coupled to a drive linkage, wherein the drive linkage is operably coupled to at least two intermeshing rotating gears, each said intermeshing rotating gear being configured to rotate about a respective axis that is perpendicular to the longitudinal axis of the housing.   
     
     
         34 . The suturing device of  claim 35 , wherein the drive linkage comprises a third gear operably coupled to the at least two intermeshing gears. 
     
     
         35 . The suturing device of  claim 34 , wherein the third gear intermeshes with at least one of the at least two intermeshing gears.