Articulating Axial Needle Grasper
An end effector is presented having an elongate body portion having a proximal end and a distal end. The end effector also includes a rotating head configured to be disposed at the distal end of the body portion and an actuation member configured to be disposed at the proximal end of the body portion. The actuation member is in operative cooperation with a handle assembly to enable rotational movement of the rotating head. The rotating head further cooperates with a needle movable relative to the rotating head.
1 . An end effector comprising:
an elongate body portion having a proximal end and a distal end;
a rotating head configured to be disposed at the distal end of the body portion; and
an actuation member configured to be disposed at the proximal end of the body portion, the actuation member being in operative cooperation with a handle assembly to enable rotational movement of the rotating head;
wherein the rotating head cooperates with a needle movable relative to the rotating head.
2 . The end effector according to claim 1 , wherein the needle is curved.
3 . The end effector according to claim 1 , wherein the needle is adapted to receive a suture for suturing tissue.
4 . The end effector according to claim 3 , wherein the suture is a monofilament or a multifilament suture.
5 . The end effector according to claim 1 , wherein the needle is positioned between the rotating head and an axial gripper portion via a needle carrier.
6 . The end effector according to claim 1 , wherein the needle is removed from the end effector via a needle carrier.
7 . The end effector according to claim 1 , wherein the body portion is bendable.
8 . The end effector according to claim 7 , wherein the bendable body portion defines an angle of curvature ranging from about 0° to about 180°.
9 . The end effector according to claim 1 , wherein the body portion has a diameter of about 0.22 inches.
10 . The end effector according to claim 1 , wherein the body portion includes one or more links extending therethrough for enabling a push/pull action.
11 . The end effector according to claim 10 , wherein the push/pull action enabled by the one or more links creates the rotational movement of the rotating head.
12 . The end effector according to claim 1 , wherein the rotating head enables stabilization and manipulation of the needle relative to the body portion during a stitching process.
13 . The end effector according to claim 12 , wherein manipulation of the needle includes at least griping, rotating, and/or articulating the needle.
14 . The end effector according to claim 1 , wherein the end effector is used during minimally invasive procedures.
15 . An axial gripper assembly comprising:
a flexible, elongate body portion having a proximal end and a distal end;
a gripper head and a rotating head configured to be disposed at the distal end of the body portion;
an actuation member configured to be disposed at the proximal end of the body portion, the actuation member configured to enable rotational movement of the rotating head; and
a curved needle positioned between the rotating head and the gripper head via a needle carrier, the curved needle being directionally manipulated in accordance with movement of the rotating head.
16 . The axial gripper assembly according to claim 15 , wherein the curved needle is adapted to receive a suture for performing minimally invasive procedures.
17 . The axial gripper assembly according to claim 15 , wherein the body portion includes one or more links extending therethrough for enabling a push/pull action that causes the rotational movement of the rotating head.
18 . The axial gripper assembly according to claim 15 , wherein the gripper head and the rotating head enable stabilization and manipulation of the curved needle relative to the body portion, the manipulation of the curved needle including at least griping, rotating, and/or articulating the needle.
19 . A method of suturing, the method comprising:
providing an axial gripper assembly including:
a flexible, elongate body portion having a proximal end and a distal end;
a gripper head and a rotating head configured to be disposed at the distal end of the body portion;
an actuation member configured to be disposed at the proximal end of the body portion, the actuation member configured to enable rotational movement of the rotating head; and
a curved needle positioned between the rotating head and the gripper head via a needle carrier, the curved needle being directionally manipulated in accordance with movement of the rotating head.
20 . The method according to claim 19 , further comprising one or more links embedded within the body portion for enabling a push/pull action that causes the rotational movement of the rotating head;
wherein the gripper head and the rotating head enable stabilization and manipulation of the curved needle relative to the body portion, the manipulation of the curved needle including at least griping, rotating, and/or articulating the needle.