Apparatus and method for tissue closure
A tissue closure device includes a pusher assembly having a drive arm extending from a drive shaft and a needle driver at a distal end of the drive arm, wherein the needle driver is capable of releasably engaging and rotating a suturing needle having a pointed end and a blunt end about a rotational axis and a cartridge having a protective housing and the suturing needle, the cartridge extending from a distal end of a cartridge holder assembly and releasably attached to the cartridge holder assembly. A pointed end of the suturing needle may be positioned within the protective housing before and after a complete rotation of the suturing needle about the rotational axis. A removable electronic module may be provided controlled by an actuator that mechanically engages the drive shaft to rotate the drive shaft and the needle driver, thereby rotating the suturing needle about the rotational axis.
1. A surgical suturing device comprising:
a needle defined at least in part by a leading end, a trailing end, an arced body between the leading and trailing ends, and at least one engagement surface formed into the needle, a length of suture material connected to the needle, a needle rotation drive including an electric motor that reciprocates between a driven position and a returned position a control system for operating said needle rotation drive, the control system including a controller including a processor, and a processor-readable tangible non-transient medium coupled to the control system, the processor-readable tangible non-transient medium storing a computer program for operating the surgical suturing device, wherein the computer program includes:
instructions for causing the control system to operate the needle rotation drive to cause the needle rotation drive to engage the at least one engagement surface of the needle to rotate the needle in a circular path in a first rotational direction along a circular needle track defined by a portion of the suturing device, wherein the leading end of the suturing needle is positioned within a protective housing of the surgical suturing device after a complete rotation of the suturing needle; and
instructions for causing the control system to detect the rotational position of a portion of the needle rotation drive.
2. The surgical suturing device of claim 1 , wherein the instructions for causing the control system to detect the rotational position of a portion of the needle rotation drive include instructions for processing a signal received from a sensor that is configured to react to the rotational position of a portion of the needle rotation drive.
3. The surgical suturing device of claim 2 , wherein the sensor is a Hall Effect sensor.
4. The surgical suturing device of claim 2 , wherein the computer program further includes instructions for reducing an applied torque level of said electric motor in response to said signal.
5. The surgical suturing device of claim 4 , wherein the computer program further includes instructions for continuing to drive said needle to a stopping point at said reduced applied torque level.
6. The surgical suturing device of claim 4 , wherein the computer program further includes instructions for shutting off electrical power to said electric motor in response to a current spike caused by the electric motor not turning any further as a result of reaching the stopping point.
7. The surgical suturing device of claim 2 , wherein the sensor is an electromagnetic sensor.
8. A surgical suturing device comprising:
a needle defined at least in part by a leading end, a trailing end, an arced body between the leading and trailing ends, and at least one engagement surface formed into the needle, a length of suture material connected to the needle, a needle rotation drive including an electric motor that reciprocates between a driven position and a returned position, a control system for operating said needle rotation drive, the control system including a controller including a processor, and a processor-readable tangible non-transient medium coupled to the control system, the processor-readable tangible non-transient medium storing a computer program for operating the surgical suturing device, wherein the computer program includes:
instructions for causing the control system to operate the needle rotation drive to cause the needle rotation drive to engage the at least one engagement surface of the needle to rotate the needle in a circular path in a first rotational direction along a circular needle track defined by a portion of the suturing device; and
instructions for causing the control system to detect the rotational position of a portion of the needle rotation drive.
9. The surgical suturing device of claim 8 , wherein the instructions for causing the control system to detect the rotational position of a portion of the needle rotation drive include instructions for processing a signal received from a sensor that is configured to react to the rotational position of a portion of the needle rotation drive.
10. The surgical suturing device of claim 9 , wherein the sensor is a Hall Effect sensor.
11. The surgical suturing device of claim 9 , wherein the computer program further includes instructions for reducing an applied torque level of said electric motor in response to said signal.
12. The surgical suturing device of claim 11 , wherein the computer program further includes instructions for continuing to drive said needle to a stopping point at said reduced applied torque level.
13. The surgical suturing device of claim 11 , wherein the computer program further includes instructions for shutting off electrical power to said electric motor in response to a current spike caused by the electric motor not turning any further as a result of reaching the stopping point.
14. The surgical suturing device of claim 9 , wherein the sensor is an electromagnetic sensor.