Apparatus and method for minimally invasive suturing
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 . A suturing device comprising:
a housing comprising an arcuate needle guide, the arcuate needle guide being configured to receive an arcuate needle therein, wherein the arcuate needle has a center axis and the arcuate needle defines at least one notch therein; and
a flexible band having a pawl coupled thereto, wherein the pawl extends from the flexible band and is biased away from the flexible band, and wherein the flexible band is flat and has a rectangular cross section;
wherein the at least one notch of the arcuate needle and the pawl engage when the flexible band translates in a first rotational direction about the center axis along an arcuate path, and further wherein the at least one notch of the arcuate needle and the pawl disengage when the flexible band translates in a direction opposite the first rotational direction.
2 . The suturing device of claim 1 , wherein the flexible band is formed from a polymeric material.
3 . The suturing device of claim 1 , wherein the flexible band is formed from a metallic material.
4 . The suturing device of claim 1 , wherein the pawl comprises at least one of a spring, a piston, a rod, and a pin.
5 . The suturing device of claim 1 , further comprising the arcuate needle, wherein the arcuate needle is disposed in the arcuate needle guide, wherein the at least one notch of the arcuate needle comprises a first notch to receive the pawl, and further wherein the first notch is defined at least by a first wall that is generally perpendicular to an outer surface of the arcuate needle and a second surface that is ramped with respect to the first wall.
6 . The suturing device of claim 1 , further comprising the arcuate needle, wherein the arcuate needle comprises two or more notches.
7 . The suturing device of claim 1 , wherein the housing is coupled to a flexible proximal section of the suturing device.
8 . The suturing device of claim 7 , wherein the flexible proximal section is steerable.
9 . The suturing device of claim 1 , further comprising an actuator operably coupled to the flexible band to cause movement of the pawl with respect to the housing.
10 . The suturing device of claim 1 , wherein (i) the flexible band has a width and a thickness, (ii) the width is greater than the thickness, and (iii) the width of the flexible band is oriented along a direction that is parallel to the center axis.
11 . The suturing device of claim 1 , further comprising a first section of the suturing device, wherein the housing is pivotally connected to the first section of the suturing device to permit the housing to be selectively pivoted with respect to the first section of the suturing device.
12 . The suturing device of claim 11 , wherein the first section is a flexible section of the suturing device extending proximally with respect to the housing.
13 . The suturing device of claim 12 , wherein the flexible first section of the suturing device includes a steering mechanism to control curvature of the first section of the suturing device.
14 . A suturing device comprising:
a housing comprising an arcuate needle guide, the arcuate needle guide being configured to receive an arcuate needle therein, wherein the arcuate needle has a center axis and the arcuate needle defines at least one notch therein; and
a flexible filament having a pawl coupled thereto, wherein the pawl extends from the flexible filament and is biased away from the flexible filament, wherein the flexible filament traverses a pathway that is parallel to the arcuate needle guide, and further wherein the pawl comprises at least one of a spring, a piston, a rod, and a pin;
wherein the at least one notch of the arcuate needle and the pawl engage when the flexible filament translates along a first rotational direction about the center axis along an arcuate path, and further wherein the at least one notch of the arcuate needle and the pawl disengage when the flexible filament translates along a direction opposite the first rotational direction.
15 . The suturing device of claim 14 , wherein the flexible filament includes a tendon.
16 . The suturing device of claim 14 , wherein the flexible filament includes a flattened flexible band.
17 . The suturing device of claim 16 , wherein the flexible band is flat and has a rectangular cross section.
18 . The suturing device of claim 16 , wherein the flexible band is formed from a polymeric material.
19 . The suturing device of claim 16 , wherein the flexible band is formed from a metallic material.
20 . The suturing device of claim 14 , further comprising the arcuate needle, wherein the arcuate needle is disposed in the arcuate needle guide, wherein the at least one notch of the arcuate needle comprises a first notch to receive the pawl, and further wherein the first notch is defined at least by a first wall that is generally perpendicular to an outer surface of the arcuate needle and a second surface that is ramped with respect to the first wall.
21 . The suturing device of claim 14 , further comprising the arcuate needle, wherein the arcuate needle comprises two or more notches.
22 . A method of performing suturing, comprising:
providing a suturing device, the suturing device comprising:
a housing, the housing comprising an arcuate needle guide, the arcuate needle guide being configured to receive an arcuate needle therein, wherein the arcuate needle has a center axis and the arcuate needle defines at least one notch therein; and
a flexible band having a pawl coupled thereto, wherein the pawl extends from the flexible band and is biased away from the flexible band,
translating the flexible band along a first rotational direction about the center axis to cause a first notch defined in the arcuate needle and the pawl to engage;
further translating the flexible band along the first rotational direction to translate the arcuate needle from a first location to a second location along the arcuate needle guide in a first drive stroke;
translating the flexible band along a second rotational direction about the center axis opposite to the first rotational direction to cause the first notch and the pawl to disengage; and
after translating the flexible band along the second rotational direction, continuing to translate the flexible band along the second rotational direction until the pawl engages a second notch defined in the arcuate needle.
23 . The method of claim 22 , wherein the pawl slides along an outer surface of the arcuate needle after the pawl disengages the first notch and before the pawl engages the second notch.
24 . The method of claim 23 , wherein the pawl slides along a ramp to disengage the first notch as the flexible band translates along the second rotational direction.
25 . The method of claim 23 , wherein the arcuate needle does not substantially move along the second rotational direction while the pawl slides along the outer surface of the arcuate needle from the first notch to the second notch.
26 . The method of claim 23 , further comprising translating the flexible band along the first rotational direction about the center axis to translate the arcuate needle from the first location to the second location along the arcuate needle guide in a second drive stroke.
27 . The method of claim 26 , wherein the arcuate needle is advanced about 360 degrees along the arcuate needle guide by way of the first drive stroke in combination with the second drive stroke.
28 . The method of claim 22 , further comprising adjusting a curvature of a flexible, proximal portion of the suturing device by actuating a steering mechanism.