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 . A method comprising:
engaging opposing sides of a shaft of a needle between parallel faces of first and second rollers, wherein the needle is formed in a helical shape and configured to draw a filament from its trailing end;
counter-rotating the first and second rollers to cause the helically shaped needle to revolve eccentrically around the first roller positioned adjacent to an object to cause a leading end of the needle to pierce the object adjacent to an outer face of the first roller; and
translating the rollers along an edge of the object, wherein counter-rotating the first and second rollers and translating the first and second rollers causes the needle to draw the filament to suture the edge of the object adjacent the outer face of the first roller.
2 . The method of claim 1 , wherein the first and second rollers are inversely rotationally coupled so that rotation of the first roller causes the second roller to rotate in an opposite direction.
3 . The method of claim 2 , further comprising applying an external source of rotational force to one of the first roller and the second roller to cause the first and second rollers to counter-rotate.
4 . The method of claim 3 , wherein counter-rotating the first and second rollers causes the first and second rollers to translate along the edge of the object by a process chosen from mechanically coupling a drive mechanism to the first and second rollers so that rotating the first and second rollers causes the drive mechanism to translate the first and second rollers along the edge of the object and applying an additional source of rotational force to the drive mechanism to translate the first and second rollers along the edge of the object.
5 . The method of claim 4 , further comprising positioning a drive track engageable by the drive mechanism along the edge of the object to guide the translation of the first and second rollers along the edge of the object.
6 . The method of claim 5 , further comprising coupling together sections of the drive track around the object and joining together the sections of the drive track around the object.
7 . A method for applying a suture to an object, the method comprising:
attaching a filament to a trailing end of a helically shaped needle;
inserting the helically shaped needle between faces of a first roller and a second roller, wherein the first roller and the second roller are rotatably mounted parallel with each other in a frame; and
piercing an edge of the object in a first location with a leading end of the helically shaped needle by revolving the helically shaped needle about a needle axis;
drawing the filament through the object by continuing to revolve the helically shaped needle; and
translating the helically shaped needle linearly along the edge of the object by translating the frame holding the first roller and the second roller.
8 . The method of claim 7 , wherein the revolving the helically shaped needle around the needle axis includes revolving the first roller in a first direction and the second roller in a second direction opposite the first direction.
9 . The method of claim 8 , wherein revolving the first roller includes the first roller rotating around a first roller axis, wherein the first roller axis is noncolinear with the needle axis.
10 . The method of claim 7 , further comprising piercing the edge in a second location, wherein the second location is linearly transposed from the first location.
11 . The method of claim 7 , wherein the translating includes counter-rotating the first roller and the second roller which causes the first and second rollers to translate along the edge of the object by a process chosen from mechanically coupling a drive mechanism to the first and second rollers so that rotating the first and second rollers causes the drive mechanism to translate the first and second rollers along the edge of the object and applying an additional source of rotational force to the drive mechanism to translate the first and second rollers along the edge of the object.
12 . The method of claim 7 , wherein the translating the helically shaped needle includes positioning a drive track engageable by a drive mechanism along the edge of the object to guide the translation of helically shaped needle along the edge of the object.
13 . The method of claim 12 , wherein the positioning the drive track includes coupling together sections of the drive track around the object.
14 . The method of claim 13 , wherein the coupling includes mechanically joining together the sections of the drive track around the object.
15 . A method comprising:
inserting a helically shaped needle between faces of a first roller and a second roller, wherein the first roller and the second roller are rotatably mounted parallel with each other in a frame; and
piercing an edge of an object in a first location with a leading end of the helically shaped needle by revolving the helically shaped needle about a needle axis; and
drawing a filament extending from a trailing end of the helically shaped needle through the object by continuing to revolve the helically shaped needle; and
translating the helically shaped needle linearly along the edge of the object by translating the frame holding the first roller and the second roller.
16 . The method of claim 15 , further comprising piercing the edge in a second location, wherein the second location is linearly transposed from the first location.
17 . The method of claim 15 , wherein the translating the helically shaped needle includes positioning a drive track engageable by a drive mechanism along the edge of the object to guide the translation of helically shaped needle along the edge of the object.
18 . The method of claim 17 , wherein the positioning the drive track includes coupling together sections of the drive track around the object.
19 . The method of claim 18 , wherein the coupling includes mechanically joining together the sections of the drive track around the object.