Devices and methods for minimally invasive suturing
View Patent ↗Devices and methods for minimally invasive suturing are disclosed. One suturing device for minimally invasive suturing includes a proximal section a distal end, and an intermediate region therebetween. The device includes a suture head assembly having a suturing needle with a pointed end and a second end. The suturing needle is capable of rotating about an axis approximately perpendicular to a longitudinal axis of the device, wherein the pointed end of the suturing needle is positioned within the suture head assembly prior to deployment of guides that are adapted and configured to guide the needle around a circular path when advanced by a drive mechanism having a needle driver for engaging and rotating the suturing needle.
1. A suturing needle comprising:
an arcuate body with a sharp leading tip and a blunted trailing end, the arcuate body defining a circular axis along its centerline, the arcuate body further defining therein a plurality of recessed surfaces formed into the arcuate body, wherein:
a first recessed surface of the plurality of recessed surfaces is formed into the arcuate body near the sharp leading tip, wherein the first recessed surface is configured to receive a drive force directed tangential to the circular axis from a drive pawl of a needle rotation drive of a suturing device for advancing the needle along a needle track, the first recessed surface being defined by:
a first step portion that is transverse to the circular axis, the first step portion descending into the body of the needle and having a face that is perpendicular to the circular axis and faces along the circular axis along a direction that is away from the sharp leading tip of the needle;
a valley portion connected to the first step portion, the valley portion being defined at least in part by a concave cylindrical shape, the valley descending further into the body of the needle than the first step portion, the concavity of the valley portion being configured to point along a direction transverse to the circular axis;
a generally flat floor portion connected to the valley portion, the floor portion facing along a direction transverse to the circular axis, the floor portion having a leading edge disposed toward the sharp leading tip, and a trailing edge disposed toward the blunted trailing end, the leading edge and trailing edge being straight and parallel to each other; and
an angled ramp portion connected to the trailing edge of the floor, the angled ramp portion being inclined away from the circular axis such that it progresses toward an outer edge of the needle; and
a second recessed surface formed into the arcuate body between the first recessed feature and the blunted trailing end of the needle.
2. The suturing needle of claim 1 , wherein the plurality of recessed surfaces are disposed at least in part on a face of the needle that faces inwardly toward a center of the circular axis.
3. The suturing needle of claim 1 , further comprising at least one longitudinal flat defined on the body.
4. The suturing needle of claim 3 , wherein the at least one longitudinal flat is intermediate the recessed surfaces.
5. The suturing needle of claim 4 , wherein the at least one longitudinal flat is disposed on a face of the needle that faces inwardly toward a center of the circular axis.
6. The suturing needle of claim 5 , further comprising a second longitudinal flat disposed on a face of the needle that faces outwardly away from the center of the circular axis.
7. The suturing needle of claim 6 , wherein the longitudinal flats are about equal in length and longitudinally coextensive.
8. The suturing needle of claim 4 , wherein the at least one longitudinal flat is disposed on a face of the needle that faces outwardly away from a center of the circular axis.
9. The suturing needle of claim 8 , further comprising a second longitudinal flat disposed on a face of the needle that faces inwardly toward the center of the circular axis.
10. The suturing needle of claim 9 , wherein the longitudinal flats are about equal in length and longitudinally coextensive.
11. The suturing needle of claim 3 , further comprising at least one protuberance extending outwardly from a surface of the needle along a direction that is perpendicular to the circular axis.
12. The suturing needle of claim 1 , further comprising at least one protuberance extending outwardly from a surface of the needle along a direction that is perpendicular to the circular axis.
13. The suturing needle of claim 1 , further comprising a length of suture connected to the trailing end.
14. A cartridge comprising the suturing needle of claim 1 and a driver for advancing the needle about a circular path.
15. The cartridge of claim 14 , further comprising a rotary input and a link connecting the driver to the rotary input.
16. A suturing device comprising the suturing needle of claim 1 and a needle driver configured to releasably engage at least a portion of the first recessed surface and advance the needle along a circular path in a needle track by an angular increment of advancement.
17. The suturing device of claim 16 , wherein the angular increment of advancement is about 180 degrees.
18. The suturing device of claim 16 , wherein the angular increment of advancement is more than 180 degrees.
19. The suturing device of claim 16 , wherein the angular increment of advancement is less than 180 degrees.
20. A suturing device comprising the suturing needle of claim 1 and a needle driver configured to releasably engage at least a portion of the first recessed surface and advance the needle along a circular path in a needle track by an angular increment of advancement, wherein the longitudinal flats help to hold the needle in alignment within the needle track.
21. The suturing needle of claim 1 , wherein the plurality of recessed surfaces are positioned apart from each other by a multiple of ninety degrees.