Devices and methods for minimally invasive suturing
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 device comprising:
an arced needle having a leading end, a trailing end, and a length of suture, the arced needle being disposed within a suturing head located at a distal end of the suturing device;
an arced needle track defined in the suturing head for receiving the needle, the arced needle track defining a circular path;
a needle driver configured to drive the needle along the circular path in a first rotational direction, the needle driver including a drive pawl that is configured to engage the needle and advance the needle along the needle track in the first rotational direction, and
a plurality of anti-rotate pawls projecting into the arced needle track, the plurality of anti-rotate pawls being spaced apart from one another along the circular path defined by the needle track, each anti-rotate pawl being configured to engage the trailing end of the needle to prevent the needle from rotating in a second rotational direction opposite the first rotational direction when the needle driver reciprocates between a drive stroke and a return stroke, wherein the drive stroke drives the needle about 180 degrees along the needle track.
2. The suturing device of claim 1 , wherein the plurality of anti-rotate pawls are spaced apart a multiple of about 90 degrees from one another along the circular path defined by the needle track.
3. The suturing device of claim 2 , wherein the plurality of anti-rotate pawls includes two pawls that are spaced apart a multiple of about 90 degrees from one another along the circular path defined by the needle track.
4. The suturing device of claim 1 , wherein at least one of the anti-rotate pawls is positioned to be adjacent the trailing end of the needle after the drive stroke is completed.
5. The suturing device of claim 1 , wherein at least one of the anti-rotate pawls and a portion of a housing of the suturing device are unitary.
6. The suturing device of claim 1 , wherein each of the anti-rotate pawls interferes with the needle in the needle track when the needle is present in the same location of the needle track as each of the anti-rotate pawls.
7. A suturing device comprising:
an arced needle having a leading end, a trailing end, and a length of suture, the arced needle being disposed within a suturing head located at a distal end of the suturing device;
an arced needle track defined in the suturing head for receiving the needle, the arced needle track defining a circular path;
a needle driver configured to drive the needle along the circular path in a first rotational direction, the needle driver including a drive pawl that is configured to engage the needle and advance the needle along the needle track in the first rotational direction; and
a pair of pawls projecting into the arced needle track, the pair of pawls being spaced apart from one another along the circular path defined by the needle track, both pawls being configured to simultaneously engage anti-rotate surfaces of the needle to prevent the needle from rotating in a second rotational direction opposite the first rotational direction when the needle driver reciprocates between a drive stroke and a return stroke, wherein the drive stroke drives the needle about 180 degrees.
8. The suturing device of claim 7 , wherein at least one of the pawls is positioned to be adjacent the trailing end of the needle after the drive stroke is completed.
9. The suturing device of claim 7 , wherein at least one of the pawls and a portion of the suturing head are unitary.
10. The suturing device of claim 7 , wherein each of the pawls interferes with the needle in the needle track when the needle is present in the same location of the needle track as each of the pawls.
11. A suturing device comprising:
an arced needle having a leading end, a trailing end, an inner radial surface, an outer radial surface and a length of suture, the needle being disposed within a suturing head located at a distal end of the suturing device, the arced needle including at least one engagement surface formed into the inner radial surface;
an arced needle track defined in the suturing head for receiving the needle, the arced needle track defining a circular path;
a needle driver configured to drive the needle along the circular path in a first rotational direction, the needle driver including a drive pawl that is configured to engage the needle and advance the needle along the needle track in the first rotational direction, wherein the needle driver reciprocates between a drive stroke and a return stroke, and further wherein the drive stroke drives the needle about 180 degrees; and
at least one anti-rotate pawl projecting from a location within the circular path of the needle radially outwardly into the arced needle track, the at least one anti-rotate pawl being configured to engage the at least one engagement surface formed into the inner radial surface of the needle, the at least one anti-rotate pawl remaining stationary with respect to the needle track as the needle driver reciprocates with respect to the needle track.
12. The suturing device of claim 11 , further comprising a second anti-rotate pawl projecting radially outwardly into the arced needle track, the second anti-rotate pawl being configured to engage the at least one engagement surface formed into the inner radial surface of the needle.
13. The suturing device of claim 12 , wherein the anti-rotate pawls are spaced apart from one another along the circular path defined by the needle track by a multiple of about 90 degrees.
14. The suturing device of claim 13 , wherein the needle further defines a second engagement surface formed into the inner radial surface of the arced needle, the engagement surfaces of the needle being spaced apart from each other along the inner radial surface of the needle by a multiple of about 90 degrees.
15. The suturing device of claim 14 , wherein the engagement surfaces of the needle are configured to engage the anti-rotate pawls simultaneously to prevent the needle from moving in a direction opposite to the first rotational direction.