Suturing and ligating method
View Patent ↗A suturing and ligating method includes a needle piercing step of inserting a needle of a suture-needle assembly through a tissue in a body cavity, a needle gripping step of gripping the needle with a first gripper, a winding step of winding a suture strand of the suture-needle assembly in at least one turn around a first distal-end working unit by rolling the first distal-end working unit in at least one revolution, a transferring step of transferring the suture-needle assembly from the first gripper to a second gripper, a suture strand gripping step of gripping a portion of the suture strand that has not passed through the tissue, with the first gripper, a pulling step of pulling the first distal-end working unit out of a loop of the suture strand, and a tightening step of forming a knot of the suture strand.
1. A suturing and ligating method to be performed inside a body cavity, the method comprising:
a using step of using a first manipulator having a first distal-end working unit including a first gripper which is selectively openable and closable, the first distal-end working unit being configured to make a rolling movement without rotating the first manipulator as a whole, and a second manipulator having a second distal-end working unit including a second gripper which is selectively openable and closable, the first manipulator including a handle having a rolling operating unit, a shaft extending from the handle, the first distal-end working unit mounted on a distal end of the shaft, and a drive source removably mounted in the handle to roll the first distal-end working unit in an unlimited angular range around a longitudinal axis of the first distal-end working unit via an automated motion, the drive source being energized when the rolling operating unit is operated,
a needle piercing step of inserting a needle of a suture-needle assembly through a tissue in the body cavity while leaving a portion of a suture strand of the suture-needle assembly uninserted in the tissue;
a needle gripping step of gripping the needle with the first gripper;
a winding step of winding the suture strand in at least one turn around the first distal-end working unit by energizing the drive source to roll the first distal-end working unit in at least one revolution via the automated motion around the longitudinal axis while gripping the needle with the first gripper;
a transferring step of, after the winding step, transferring the suture-needle assembly from the first gripper to the second gripper;
a suture strand gripping step of, after the transferring step, gripping a portion of the suture strand that has not passed through the tissue, with the first gripper;
a pulling step of, after the suture strand gripping step, pulling the first distal-end working unit out of a loop of the suture strand wound around the first distal-end working unit; and
a tightening step of, after the pulling step, forming a knot of the suture strand by moving the first distal-end working unit and the second distal-end working unit away from each other.
2. The method according to claim 1 , wherein the winding step comprises rolling the first distal-end working unit while displacing the suture strand toward the first distal-end working unit by the second manipulator.