Suturing apparatus needle drive
A suturing system including apparatus and methods for disposing a suture in a substrate comprising a needle configured to engage and carry a suture ferrule through the substrate to dispose the suture in the substrate between a substrate first location and a substrate second location. In particular embodiments, the suturing apparatus can include a structure to dampen excess forcible urging or absorb forcible urging applied after the needle engages a needle stop to terminating travel of the needle, and/or a magnetic drive to assist forcible urging on the needle drive or independently generate force sufficient to independently operate the needle drive or provide a combination of forces over the travel path of the needle to both assist forcible urging, and at a particular point in the travel path of the needle, independently operate the needle drive.
1 . A suturing apparatus, comprising:
a suturing probe including a needle receiving chamber disposed adjacent a substrate capture chamber;
a central tubular member coupled to said suturing probe, said central tubular member having within a first longitudinal channel and a second longitudinal channel;
a needle having a needle first end opposite a needle second end, said needle slidably disposed in said first longitudinal channel;
a needle drive slidingly engaged to said central tubular member, said needle drive coupled to said needle to drive said needle between a retracted condition having said needle first end entirely within said first longitudinal channel and an extended condition having said needle first end within a needle receiver of said suturing probe, wherein said needle drive including:
a compressible member receptacle having a receptacle first end having an inwardly extending first retainer ring defining a first end opening and a receptacle second end having an inwardly extending second retainer ring defining a second end opening;
a tubular collar having collar first end opposite a collar second end, said collar first end having an annular shoulder and said collar second end configured to connect to said needle second end, said tubular collar telescopingly engaged in said first end opening engages said annular shoulder with said first retainer ring;
a compressible member having a compressible member first end opposite a compressible member second end, said compressible member first end engaged to said annular shoulder, said compressible member second end engaged to said second retainer ring; and
a tubular drive member having a tubular drive member first end engaged to said second retainer ring of said compressible member receptacle and a tubular drive member second end, said tubular drive member having a tubular drive member external surface configured to operably connect to a needle drive actuator.
2 . The suturing apparatus of claim 1 , further comprising a first magnet holder having a first magnet holder internal surface configured to slidably engage said central tubular member to engage said tubular drive member second end, and a first magnet holder external surface configured to retain a ferromagnetic body or a first magnet.
3 . The suturing apparatus of claim 2 , wherein said ferromagnetic body or said first magnet retained by said first magnet holder comprises only one ferromagnetic body or only one magnet.
4 . The suturing apparatus of claim 2 , wherein said ferromagnetic body or said first magnet comprises a plurality of ferromagnetic bodies or a first plurality of magnets.
5 . The suturing apparatus of claim 4 , wherein said ferromagnetic body or said first magnet comprises three ferromagnetic bodies or three magnets.
6 . The suturing apparatus of claim 4 , wherein said plurality of ferromagnetic bodies or said first plurality of magnets disposed in radially spaced apart relation about said central tubular member.
7 . The suturing apparatus of any one of claim 3, 4, or 5 , wherein said ferromagnetic body or said first magnet configured to balance magnetic attraction force about said central tubular member to provide an angular positional tolerance for coaxial components of said first magnetic holder and said central tubular member to reduce resistance to movement of said first magnetic holder along said central tubular member.
8 . The suturing apparatus of claim 2 , further comprising a second magnet holder having a second magnet holder external surface configured to held by said housing in fixed spatial relation to said first magnet holder, said second magnet holder configured to retain said ferromagnetic body or a second magnet having an opposite field pole to said first magnet.
9 . The suturing apparatus of claim 8 , wherein said ferromagnetic body or a second magnet having an opposite field pole to said first magnet disposed in said second magnet holder generates a magnetic attraction force in relation to said ferromagnetic body or said first magnet disposed in said first magnet holder.
10 . The suturing apparatus of claim 9 , wherein said magnetic attraction force increases as said first magnet holder moves along said central tubular member toward said second magnetic holder.
11 . The suturing apparatus of claim 2 , further comprising a needle drive actuator coupled to said tubular drive member or said first magnet holder, said needle drive actuator movable to correspondingly move said needle drive along said central tubular member.
12 . The suturing apparatus of claim 1 , further comprising a needle drive actuator coupled to said tubular drive member, said needle drive actuator movable to correspondingly move said needle drive along said central tubular member.
13 . The suturing apparatus of any one of claim 12 or 11 , further comprising a needle drive actuator slot disposed in said housing, said needle drive actuator configured to couple to a pressable needle drive actuator button disposed external to said housing, wherein forcible urging on said pressable needle drive actuator button moves said needle drive along said central tubular member.
14 . The suturing apparatus of claim 1 , further comprising a vacuum source fluidically coupled to said second longitudinal channel disposed in said central tubular member, said second longitudinal channel fluidically coupled to said substrate capture chamber.