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 method of suturing tissue, comprising:
providing a suturing device having a housing containing an arcuate needle with a suturing material attached thereto disposed in an arcuate needle track defined in the housing, the suturing device also having an elongate drive arm having a pawl located at a distal end of the drive arm, the drive arm being rotatably connected to two spaced apart rotatable reciprocating drive members so that the elongate drive arm maintains an orientation relative to a longitudinal axis of the suturing device while the reciprocating drive members reciprocate; and
performing a drive stroke by causing each reciprocating drive member to rotationally reciprocate about a respective axis of rotation to cause the pawl of the elongate drive arm to engage an engagement surface of the arcuate needle along the arcuate needle track.
2. The method of claim 1 , further comprising disengaging the pawl from the arcuate needle.
3. The method of claim 2 , wherein the drive stroke is a first drive stroke, the method further comprising performing a second drive stroke by engaging the pawl with a second engagement surface of the arcuate needle, and advancing the arcuate needle along the needle track due to the engagement between the pawl and the second engagement surface of the arcuate needle.
4. The method of claim 3 , wherein the arcuate needle is advanced a total of about 360 degrees as a result of the first and second drive strokes.
5. The method of claim 4 , wherein the arcuate needle passes through at least one tissue segment to be sutured during at least one of the first and second drive strokes.
6. The method of claim 5 , wherein said suturing material includes a stop at a free end thereof, said stop preventing said free end of said suturing material from passing through said at least one tissue segment when tension is applied to said suturing material.
7. The method of claim 5 , further comprising pulling the suturing material attached to the arcuate needle through said at least one tissue segment forming a stitch.
8. The method of claim 7 , further comprising securing the stitch.
9. The method of claim 7 , further comprising cutting the suture material.
10. The method of claim 7 , further comprising placing additional stitches through said at least one tissue segment.
11. The method of claim 10 , wherein said stitches are used to attach a graft to said at least one tissue segment.
12. The method of claim 10 , wherein said stitches are used to close a tissue incision.
13. The method of claim 10 , wherein said additional stitches include a series of continuous stitches.
14. The method of claim 13 , wherein said series of continuous stitches include a spiral stitch.
15. The method of claim 13 , wherein said series of continuous stitches include a mattress stitch.
16. The method of claim 13 , wherein said series of continuous stitches include a purse stitch.
17. A method for suturing tissue during minimally invasive surgery, comprising:
engaging a suturing needle with a suture head assembly of a distal end of a suturing device, the suturing needle having a pointed end and a second end, said suturing needle including a suturing material attached thereto;
introducing the distal end of the suturing device into a body cavity;
positioning an opening in the suture head assembly to span at least one tissue segment;
activating an actuator coupled to a needle drive arm that engages an engagement surface formed into the suturing needle, wherein the needle drive arm releasably engages with the engagement surface of the suturing needle to cause rotational movement of the suturing needle about an axis approximately perpendicular to a longitudinal axis of the suturing device and advance the suturing needle through said at least one tissue segment, wherein the suturing needle remains coupled to the suture head when the suturing needle disengages from the needle drive arm, wherein when engaged, the needle drive arm extends along the suture head assembly from the engagement surface of the suturing needle to a position proximal to the suturing needle and further wherein the needle drive arm maintains an orientation relative to the longitudinal axis of the suturing device while the needle drive arm reciprocates; and
pulling the suturing material attached to the suturing needle through said at least one tissue segment forming a stitch.
18. The method of claim 17 , further comprising repeating the positioning, activating and pulling steps in sequence to cause a plurality of stitches to be placed through said at least one tissue segment.
19. The method of claim 18 , further comprising attach a graft to said at least one tissue segment using said plurality of stitches.
20. The method of claim 17 , wherein the suturing needle and suturing material are provided in a sterilizable medical packaging material.
21. The method of claim 17 , wherein engaging the engagement surface formed into the suturing needle with the needle drive arm includes engaging a pawl of the needle drive arm with the engagement surface of the suturing needle.
22. A method for suturing tissue during minimally invasive surgery, comprising:
engaging a suturing needle with a suture head assembly of a distal end of a suturing device, the suturing needle having a pointed end and a second end, said suturing needle including a suturing material attached thereto;
introducing the distal end of the suturing device into a body cavity;
positioning an opening in the suture head to span at least one tissue segment;
activating an actuator coupled to a needle drive that engages an engagement surface formed into the suturing needle to cause rotational movement of the suturing needle about an axis approximately perpendicular to a longitudinal axis of the suturing device and advance the suturing needle through said at least one tissue segment, wherein a center of the engagement surface is spaced apart from an inner face of the suturing needle; and
pulling the suturing material attached to the suturing needle through said at least one tissue segment forming a stitch.