Apparatus and method for minimally invasive suturing
View Patent ↗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 drive mechanism having a needle driver for engaging and rotating the suturing needle.
1. A surgical suturing device having a proximal end and a distal end, comprising:
an arced needle having a length of suture attached thereto;
an elongate shaft having a proximal end and a distal end;
a suturing head pivotally coupled to a distal end of the elongate shaft at a pivot joint, the suturing head including a needle driver, the needle driver being coupled to a reciprocating needle drive, the needle driver being operable to releasably engage and advance the needle in a circular path about an axis of rotation that is perpendicular to a longitudinal axis of the surgical suturing device, the needle driver reciprocating in conjunction with the needle drive between a drive stroke wherein the needle is engaged by the needle driver and advanced along the circular path by about 180 degrees or more during the drive stroke and a return stroke wherein the needle driver disengages from the needle and returns to a starting position; and
an actuator assembly coupled to the proximal end of the elongate shaft, the actuator assembly including an articulation actuator coupled to the suturing head for causing the suturing head to articulate about the pivot with respect to the elongate shaft.
2. The surgical suturing device of claim 1 , wherein the articulation actuator is configured to be pushed or pulled to cause the suturing head to articulate about the pivot.
3. The surgical suturing device of claim 1 , further comprising a selectively engagable lock for locking the suturing head in a selected rotational position with respect to the elongate shaft, wherein the suturing head cannot be articulated about the pivot joint when the lock is engaged.
4. The surgical device of claim 1 , wherein the pivot joint is a hinge that provides for a single degree of rotational movement about the pivot joint for aligning the suturing head with respect to the elongate shaft.
5. The surgical suturing device of claim 1 , further comprising a flush port for accessing an interior volume of the surgical suturing device with a liquid.
6. The surgical suturing device of claim 5 , wherein the flush port is configured to facilitate cleaning of the interior volume of the device via the flush port.
7. The surgical suturing device of claim 5 , wherein the flush port is configured to facilitate application of suction to the interior volume of the device via the flush port.
8. The surgical suturing device of claim 5 , wherein the elongate shaft defines a hollow interior that forms at least a portion of the interior volume.
9. The surgical suturing device of claim 8 , wherein the flush port is located on the elongate shaft.
10. The surgical suturing device of claim 1 , wherein the suturing head is configured to articulate through a range of motion of about 90 degrees.
11. The surgical suturing device of claim 1 , further comprising a roticulation joint configured to permit rotation of at least a distal portion of the suturing head with respect to the control assembly about an axis collinear with the longitudinal axis of the suturing device.
12. The surgical suturing device of claim 11 , wherein the roticulation joint is defined by a hub that is attached to a tubular body.
13. The surgical suturing device of claim 12 , wherein the hub is rotatably mounted on a bearing surface.
14. The surgical suturing device of claim 13 , wherein the bearing surface is a cylindrical bearing surface.
15. The surgical suturing device of claim 14 , wherein the cylindrical bearing surface includes a plurality of detents along the bearing surface.
16. The surgical suturing device of claim 14 , wherein the cylindrical bearing surface includes a plurality of detents surrounding the bearing surface.
17. The surgical suturing device of claim 16 , wherein the roticulation joint includes at least one detent ball disposed in a detent housing that is biased by a detent spring into mechanical engagement with the detents of the bearing surface to prevent the hub from rotating freely.
18. The surgical suturing device of claim 1 , wherein the needle is advanced through a complete 360 degree rotation as a result of being driven through two drive strokes.
19. The surgical suturing device of claim 1 , wherein the needle is advanced through a path of about 190 degrees in a single drive stroke.