Apparatus and method for minimally invasive suturing
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 reciprocating needle drive having a needle driver for engaging and rotating the suturing needle.
1. A suturing device having a proximal end and a distal end comprising:
a) an arced suturing needle having a pointed leading end and a trailing end;
b) a suturing head disposed proximate the distal end of the device, the suturing head being configured to support the arced suturing needle therein, the arced suturing needle having a curved body, the curved body covering an arc greater than about 180°, wherein the arced suturing needle is disposed in and adapted and configured to be advanced along an arcuate path about an axis of rotation substantially perpendicular to a longitudinal axis defined by the suturing device;
c) a reciprocating needle drive configured to advance the needle along a first direction led by the leading end of the needle, wherein reciprocating components of the reciprocating needle drive that are disposed within the suturing head are mounted to the same housing section to facilitate assembly of the suturing head, wherein the reciprocating components of the reciprocating needle drive include at least once reciprocating idler wheel rotatably coupled to the housing section and at least one drive bar pivotally coupled to the reciprocating idler wheel at an outer periphery of the reciprocating idler wheel.
2. The suturing device of claim 1 , wherein the side of the housing section on which the reciprocating components of the reciprocating needle drive are disposed is located on an interior portion of the suturing head.
3. The suturing device of claim 1 , wherein the reciprocating components of the reciprocating needle drive that are disposed within the suturing head are mounted to one face of said housing section.
4. The suturing device of claim 3 , wherein the reciprocating components of the reciprocating needle drive that are mounted to said one face of said housing section are covered by a second housing section to protect said reciprocating components.
5. The suturing device of claim 1 , wherein said reciprocating components of the reciprocating needle drive that are mounted to said one face of said housing section further include at least one needle driver pivotally connected to said drive bar.
6. The suturing device of claim 5 , wherein said needle driver includes a drive pawl for releasably engaging a drive notch formed into an engagement surface of the arced suturing needle that faces inwardly toward the axis of rotation of the arced suturing needle.
7. The suturing device of claim 6 , wherein said drive pawl is urged into contact with said arced suturing needle under spring force.
8. The suturing device of claim 6 , wherein said drive pawl rides in a carrier track defined at least in part by a C-brace disposed radially inwardly with respect to the arced suturing needle.
9. The suturing device of claim 8 , wherein the needle is advanced along a needle track that is disposed radially outwardly with respect to the C-brace.
10. The suturing device of claim 9 , wherein the drive pawl is the only portion of the reciprocating drive in the suturing head that extends into the needle track.
11. The suturing device of claim 5 , wherein said needle driver includes a spring.
12. The suturing device of claim 11 , further comprising a removable cartridge disposed in the suturing head, the removable cartridge including a cartridge housing, wherein a needle track is formed into the removable cartridge.
13. The suturing device of claim 12 , wherein the suturing head includes a coupling for releasably holding the removable cartridge.
14. The suturing device of claim 12 , wherein the removable cartridge is disposed at a distal end of the suturing head.
15. The suturing device of claim 1 , wherein the reciprocating needle drive advances the needle through a 360° rotation about the axis of rotation in two 180° drive strokes.
16. The suturing device of claim 1 , wherein the suturing head is configured to be introduced through a cannula.
17. The suturing device of claim 1 , wherein the reciprocating needle advancement drive is motorized.
18. The suturing device of claim 1 , wherein at least a portion of the suturing head is modular and replaceable.