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 disposable cartridge adapted and configured for being removably attached to a distal end of a reusable suturing device, the disposable cartridge comprising:
an elongate cartridge body defining an arcuate needle track therein, the arcuate needle track laying in a plane that is parallel to a longitudinal axis of the reusable suturing device, the disposable cartridge defining a longitudinal axis, the longitudinal axis being parallel to the reusable suturing device when the disposable cartridge is attached thereto;
an arcuate suturing needle having a leading end, a trailing end, and a length of suture, the arcuate needle being disposed within the arcuate needle track of the cartridge;
a drive arm configured to advance the arcuate suturing needle about 180 degrees along the needle track about an axis that is perpendicular to the longitudinal axis of the cartridge body; and
an actuator operably coupled to the drive arm, wherein displacement of the actuator causes the drive arm to advance the arcuate suturing needle along the arcuate needle track.
2. An elongate suturing device having a proximal end and a distal end, the distal end of the elongate suturing device including a cartridge receiving portion configured to removably receive the disposable cartridge of claim 1 .
3. The elongate suturing device of claim 2 , wherein the disposable cartridge snaps onto the distal end of the elongate suturing device.
4. The disposable cartridge of claim 1 , wherein the longitudinal axis of the disposable cartridge is coincident with a longitudinal axis of the reusable suturing device when the disposable cartridge is attached to the reusable suturing device.
5. The disposable cartridge of claim 1 , wherein a leading tip of the arcuate suturing needle is fully covered by the disposable cartridge prior to coupling the disposable cartridge to the reusable suturing device.
6. A reusable suturing device having a cartridge receiving portion to removably receive the disposable cartridge of claim 1 .
7. The reusable suturing device of claim 6 , wherein the cartridge receiving portion is pivotally coupled to an elongate intermediate portion of the reusable suturing device.
8. The reusable suturing device of claim 7 , wherein the elongate intermediate portion includes a plurality of actuating cables for controlling movement of the suturing needle.
9. The reusable suturing device of claim 8 , wherein the plurality of actuating cables traverse a knuckle portion of the reusable suturing device.
10. The reusable suturing device of claim 9 , wherein the knuckle portion permits a portion of the reusable suturing device to articulate about the knuckle portion.
11. The reusable suturing device of claim 7 , further comprising a roticulation joint configured to permit the cartridge receiving portion to rotate about a longitudinal axis of the reusable suturing device.
12. The reusable suturing device of claim 11 , wherein the plurality of actuating cables pass through a central portion of the roticulation joint.