Suturing apparatus and method
Disclosed embodiments include apparatuses, systems, and methods for driving a needle to facilitate suturing, such as may be performed in a surgical anastomosis procedure. In an illustrative embodiment, an apparatus includes a frame. First and second rollers are rotatably mounted parallel with each other in the frame and are configured to engage therebetween a shaft of a needle formed in a helical shape. The first and second rollers are configured to counter-rotate. The needle is revolvable eccentrically around the first roller responsive to counter-rotation of the first and second rollers. A drive mechanism is secured to the frame and is configured to move the frame.
1. An apparatus comprising:
a frame;
a needle having a shaft formed in a helical shape, the shaft configured to draw a filament from an end thereof;
a first roller and a second roller rotatably mounted parallel with each other in the frame and configured to engage therebetween the shaft of the needle, the needle disposed around the first roller, wherein a radius of the needle is greater than a radius of the first roller and an axis of needle is noncolinear with an axis of the first roller, the first roller and the second roller being configured to counter-rotate, the needle being revolvable eccentrically around the first roller responsive to counter-rotation of the first roller and the second roller; and
a drive mechanism secured to the frame and configured to move the frame to translate the first roller and the second roller and the needle relative to an object as the first roller and the second roller are counter-rotated to revolve the needle through the object to form a suture.
2. The apparatus of claim 1 , wherein faces of at least one of the first roller and the second roller defines angled grooves that are sized to at least partially receive the shaft of the needle and that are angled to align with a pitch of the helical shape of the needle.
3. The apparatus of claim 1 , further comprising:
a first drive gear configured to engage the first roller; and
a second drive gear configured to engage the second roller, the first drive gear and the second drive gear being further configured to cooperate with each other such that the first roller is rotatable in a first rotational direction and the second roller is counter-rotatable in a second rotational direction that is opposite the first rotational direction.
4. The apparatus of claim 3 , further comprising a roller drive shaft configured to receive a rotatable member that is configured to provide rotational force to cause the first roller and the second roller to counter-rotate.
5. The apparatus of claim 1 , wherein the drive mechanism includes:
a worm gear rotatably received in the frame and configured to engage a drive track; and
a guide bracket disposed on the frame and configured to support the worm gear in engagement with the drive track, the frame being motivatable along the drive track responsive to rotation of the worm gear.
6. The apparatus of claim 5 , further comprising at least one transverse roller mounted on the frame and configured to rollingly engage the drive track to maintain the guide bracket in position to hold the worm gear against the drive track.
7. The apparatus of claim 5 , wherein the drive mechanism is further configured to cause the worm gear to rotate by a causality chosen from: mechanically engaging at least one of the first roller and the second roller so that rotation of the at least one of the first roller and the second roller causes the worm gear to rotate and receiving a rotatable drive member configured to provide rotational force to cause the worm gear to rotate.
8. A system comprising:
a needle formed in a helical shape, wherein the needle includes a shaft having a trailing end configured to draw a filament and a leading end shaped to pierce an object;
a drive track that is positionable to guide a path of the needle; and
a needle drive mechanism including:
a frame;
a first roller and a second roller rotatably mounted parallel with each other in the frame and configured to engage therebetween the shaft of the needle, the first roller and the second roller being configured to counter-rotate, the needle being revolvable eccentrically around the first roller responsive to counter-rotation of the first roller and the second roller; and
a drive mechanism secured to the frame and configured to move the frame along the drive track, wherein the drive mechanism includes:
a worm gear rotatably received in the frame and configured to engage the drive track; and
a guide bracket disposed on the frame and configured to support the worm gear in engagement with the drive track, the frame being motivatable along the drive track responsive to rotation of the worm gear.
9. The system of claim 8 , wherein faces of at least one of the first roller and the second roller defines angled grooves that are sized to at least partially receive the shaft of the needle and that are angled to align with a pitch of the helical shape of the needle.
10. The system of claim 8 , further comprising:
a first drive gear configured to engage the first roller; and
a second drive gear configured to engage the second roller, the first drive gear and the second drive gear being further configured to cooperate with each other such that the first roller is rotatable in a first rotational direction and the second roller is counter-rotatable in a second rotational direction that is opposite the first rotational direction.
11. The system of claim 10 , further comprising a roller drive shaft configured to receive a rotatable member that is configured to provide rotational force to cause the first roller and the second roller to counter-rotate.
12. The system of claim 8 , further comprising at least one transverse roller mounted on the frame and configured to rollingly engage the drive track to maintain the guide bracket in position to hold the worm gear against the drive track.
13. The system of claim 8 , wherein the drive mechanism is further configured to cause the worm gear to rotate by a causality chosen from: mechanically engaging at least one of the first roller and the second roller so that rotation of the at least one of the first roller and the second roller causes the worm gear to rotate and receiving a rotatable drive member configured to provide rotational force to cause the worm gear to rotate.