SUTURING DEVICE AND METHODS OF USING IT

Abstract

The present disclosure includes a suturing device including: a fixed arm having a fixed jaw including a first grasping slot configured to receive a needle; a movable arm coupled to a movable jaw including a second grasping slot configured to receive the needle, the movable arm configured to pivot relative to the fixed arm to pivot the movable jaw relative to the fixed jaw until the needle is received in the first grasping slot and the second grasping slot; and a needle transfer mechanism configured to grasp the needle in the first grasping slot or the second grasping slot. In some aspects, the suturing device includes a safety member configured to control when the movable arm moves. The present disclosure includes a loading apparatus including a loading slot configured to receive a fixed jaw and a slider configured to move the needle towards into the fixed jaw.

Description

Suturing device and methods of use thereof. Cross-reference to related applications.

[001] This application claims the benefit and priority of U.S. Provisional Patent No. 63 / 452,301, filed March 15, 2023, Turkish Application No. 2023 / 002908, filed March 15, 2023, and Turkish Application No. 2023 / 002475, filed March 6, 2023, the contents of which are incorporated herein by reference in their entirety. FIELD

[002] The present description refers to suture devices used in surgical operations, to a suture loading apparatus for loading a suture into a suture device and to its methods of use. FUNDAMENTALS

[003] Urinary incontinence refers to the involuntary leakage or unintentional loss of urine. The condition presents in three different forms: stress urinary incontinence, urge urinary incontinence, and mixed urinary incontinence. The most common is stress urinary incontinence (SUI), which is the involuntary leakage of urine that occurs during physical activities that increase abdominal pressure (straining) and / or exert pressure on the bladder, such as coughing, sneezing, laughing, lifting weights, and exercising. Petition 870250100843, dated 04 / 11 / 2025, page 10 / 547 2 / 416

[004] Abdominal colposuspension based on native tissue repair for SUI is based on the elevation of the vaginal wall towards strong supporting structures of the bilateral pelvic floor, such as the arcus tendineus fascia pelvis (ATFP) and the iliopectineal ligament. However, native tissue repair is invasive and difficult because it is intensive and constitutes major (abdominal) surgery. Transvaginal surgery is based on mesh repair for SUI. It involves the placement of a tension-free mesh (sling). This method usually involves the placement of artificial implants, such as a synthetic sling or mesh.

[005] Pelvic organ prolapse (POP) refers to the prolapse (descent) of pelvic organs from their normal position. Pelvic organs include the vagina, cervix, uterus, bladder, urethra, and rectum.

[006] Surgical treatment of POP can be performed through the abdomen or vagina. Abdominal surgeries to repair POP can be performed using either native tissue repair or artificial mesh placement. Transvaginal surgeries can also be performed using either native tissue repair or artificial mesh placement. Native tissue repair performed through the vagina is based on elevation of the Petition 870250100843, dated 04 / 11 / 2025, page 11 / 547 3 / 416 vaginal wall or cervix (if the patient's uterus has been removed for another reason) towards strong supporting structures of the pelvic floor, such as the sacrospinous ligament, the sacrouterine ligament, and the pelvic arch tendinous fascia (TAFP).

[007] Several procedures have been developed over time to treat these conditions. Current surgical treatment options for IUB include repair with native tissue, such as abdominal colposuspension, a procedure in which the bladder neck is supported by sutures. Sling procedures can be used where support is provided with tissue surgically removed from other parts of the patient's body (autologous sling), or donated by another person (allogeneic sling) or animal (xenogeneic sling). Sling procedures can also be performed with materials such as surgical mesh (mesh sling). Sling procedures are performed through the vagina, as opposed to abdominal colposuspension. They can be performed using three incisions, in two ways: retropubic or transobturator. Other procedures include the mini-sling procedure, which can be performed with a single incision.The most common procedures for treating IUB are abdominal colposuspension, which can present difficulties because it is performed through the abdomen, and mid-urethral sling procedures (MUS). Petition 870250100843, dated 04 / 11 / 2025, p. 12 / 547 4 / 416 mid-urethral sling), which use a surgical mesh associated with safety concerns due to mesh erosion and related complications.

[008] Vaginal Arch-Colposuspension (VACS) surgery introduces a minimally invasive, transvaginal, native tissue repair technique. The pelvic arch tendon fascia (TAF), which is more difficult to reach via the abdominal route, can be easily palpated through the lateral vaginal wall, but the pubic portion of the TAF, which requires sutures for VACS, remains behind the pubic bone, and its location does not appear to be suitable for suturing.

[009] Thus, there is still a need for safe and effective procedures for urinary incontinence that are minimally invasive and use the native tissue repair technique. SUMMARY

[0010] The present description refers to a suturing device, including: a first jaw including a first gripping slot configured to receive a needle; a second jaw including a second gripping slot configured to receive the needle; and a needle transfer mechanism, including: a first gripping member positioned in the first jaw and selectively extendable in the first gripping slot; a first thread Petition 870250100843, dated 04 / 11 / 2025, p. 13 / 547 5 / 416 coupled to the first clamping member, wherein the first wire is configured to change length in response to the electric current supplied by the first wire; a second clamping member positioned on the second jaw; and a second wire coupled to the second clamping member, wherein the second wire is configured to change length in response to the electric current supplied by the second wire, wherein: the first clamping member is configured to couple in a removable manner to the needle; and the second clamping member is configured to couple in a removable manner to the needle.

[0011] The present description refers to a suture system, including: a device including: a first jaw including a first gripping slot configured to receive a needle; a second jaw including a second gripping slot configured to receive the needle; and a needle transfer mechanism, including: a first gripping member positioned in the first jaw; a first thread coupled to the first gripping member, wherein the first thread is configured to change length in response to the electric current supplied through the first thread; a second gripping member positioned in the second jaw; and a second thread coupled to the second gripping member, wherein the second thread is configured to change length in response to the current. Petition 870250100843, dated 04 / 11 / 2025, page 14 / 547 6 / 416 electrical current supplied through the second wire, wherein: the first clamping member is configured to couple in a removable manner to the needle; and the second clamping member is configured to couple in a removable manner to the needle; and a power source coupled to the first wire and the second wire and configured to supply electrical current to the first wire and the second wire.

[0012] The present description refers to a method, including: opening a second jaw of a suture device relative to a first jaw of the suture device, wherein: the first jaw includes a first clamping slot configured to receive a needle and a first clamping member configured to removablely engage with the needle to retain the needle in the first clamping slot; the second jaw includes a second clamping slot configured to receive the needle and a second clamping member configured to removablely engage with the needle to retain the needle in the second clamping slot; and the needle is engaged with the first clamping member and retained in the first clamping slot of the first jaw; closing the second jaw relative to the first jaw, optionally wherein the device is positioned so that the target tissue is between the first jaw and the second jaw before closing the second jaw;and transfer the needle from the first tightening slot of the first; Petition 870250100843, dated 04 / 11 / 2025, page 15 / 547 7 / 416 jaw for the second clamping slot of the second jaw, where transferring the needle includes: supplying an electric current to a first wire coupled to the first clamping member to change a length of the first wire and decoupling the first clamping member from the needle.

[0013] The present description refers to a transfer mechanism for a suturing device, including: a thread, wherein: the thread is coupled to a needle; the thread is coupled to a power source configured to supply an electric current through the thread; the thread is configured to change length in response to the supply of electric current through the thread; and the thread is configured to move the needle from a first position to a second position when electric current is supplied by the thread.In some embodiments, the present description refers to a transfer mechanism, additionally including a potential energy member, wherein: the potential energy member is configured to transition between a first configuration and a second configuration; and the potential energy member is configured to move the needle from the second position to the first position when the potential energy member transitions from the second configuration to the first configuration.

[0014] The present description refers to a transfer mechanism for a suture device, including: a Petition 870250100843, dated 04 / 11 / 2025, page 16 / 547 8 / 416 wire, wherein: the wire is coupled to a clamping member; the wire is coupled to a power source configured to supply an electric current through the wire; the wire is configured to change length in response to the supply of electric current through the wire; and the wire is configured to move the clamping member from a first position to a second position when electric current is supplied by the wire, wherein: the clamping member is configured to couple to a needle in the first position; and the clamping member is configured to discouple from the needle in the second position.In some embodiments, the present description refers to a transfer mechanism, additionally including a potential energy member, wherein: the potential energy member is configured to transition between a first configuration and a second configuration; and the potential energy member is configured to move the clamping member from the second position to the first position when the potential energy member transitions from the second configuration to the first configuration.

[0015] The present description refers to a suturing device, including additionally: a needle transfer mechanism, one or more image sensors comprising one or more optical wires extending through the suturing device, wherein the one or more sensors of Petition 870250100843, dated 04 / 11 / 2025, page 17 / 547 9 / 416 images are configured to generate image data from an operational location of the suturing device. The present description refers to a suturing device, including: a needle transfer mechanism; and a fiber optic image sensor, such as a fiber optic camera that includes an optical wire extending through the suturing device, wherein the fiber optic camera is configured to generate image data from an operational location of the suturing device.

[0016] The present description refers to a suturing device, including: a needle transfer mechanism; and one or more electric field sensors positioned on a surface of the suturing device and configured to locate nerves within and around an operating site of the suturing device. The present description refers to a suturing device, including: a needle transfer mechanism; and an electric field sensor positioned on a surface of the suturing device and configured to locate nerves within and around an operating site of the suturing device.

[0017] The present description refers to a suturing device, including: a first jaw including a first clamping slot configured to receive a needle; a second jaw including a second clamping slot configured to receive the needle; and one or more films. Petition 870250100843, dated 04 / 11 / 2025, page 18 / 547 10 / 416 piezoelectric elements positioned on a surface of at least one of the first or second jaws, wherein the piezoelectric films are configured to vibrate at least one of the first or second jaws. The present description relates to a suturing device, including: a first jaw including a first clamping slot configured to receive a needle; a second jaw including a second clamping slot configured to receive the needle; and a piezoelectric film positioned on a surface of at least one of the first or second jaws, wherein the piezoelectric film is configured to vibrate at least one of the first or second jaws.

[0018] The present description refers to a suturing device, including: an elongated body; a needle; and a needle transfer mechanism including a thread attached to the needle and coupled to a power source, wherein: the thread is configured to change length in response to the supply of electric current through the thread; and the thread is configured to move the needle when electric current is supplied through the thread.

[0019] The present description refers to a suturing device, including: a fixed arm formed in a single piece with a fixed jaw including a first clamping slot configured to receive a needle; a movable jaw. Petition 870250100843, dated 04 / 11 / 2025, page 19 / 547 11 / 416 movably coupled to a movable arm including a second clamping slot configured to receive the needle, the movable jaw configured to rotate around a reference body on the fixed arm and relative to the fixed jaw; and a needle transfer mechanism including: a first clamping member configured to fix the needle in the first clamping slot and release the needle from the first clamping slot, the first clamping member configured to selectively engage the needle while the needle is positioned in the first clamping slot; a first wire coupled to the first clamping member, wherein the first wire is configured to change length in response to the electric current supplied by the first wire;a second clamping member configured to secure the needle in the second clamping slot and release the needle from the second clamping slot, the first clamping member configured to selectively engage the needle while the needle is positioned in the first clamping slot; and a second wire coupled to the second clamping member, wherein the second wire is configured to change length in response to the electric current supplied by the second wire.

[0020] In some embodiments, the present description refers to a suturing device, wherein the fixed arm additionally includes an arm joint coupled to the movable arm, and wherein the movable arm is configured to rotate in Petition 870250100843, dated 04 / 11 / 2025, page 20 / 547 12 / 416 around the arm joint and in relation to the fixed arm. In some embodiments, the present description refers to a suturing device, wherein the fixed arm further comprises a jaw joint located on the reference body, wherein the jaw joint is coupled to the movable jaw, and wherein the movable jaw is configured to rotate around the jaw joint and in relation to the fixed jaw. In some embodiments, the present description refers to a suturing device, wherein the suturing device further includes a connecting joint configured to connect the movable arm and the movable jaw, wherein the movable arm is configured to move the connecting joint to cause the movable jaw to rotate around the jaw joint.

[0021] The present description refers to a suturing device, including: a fixed arm formed in a single piece with a fixed jaw including a first clamping slot configured to receive a needle; a movable jaw movably coupled to a movable arm including a second clamping slot configured to receive the needle, the movable jaw configured to rotate around a reference body on the fixed arm and relative to the fixed jaw; and a needle transfer mechanism including a first and second thread configured to secure the needle in the first clamping slot or the second clamping slot, being Petition 870250100843, dated 04 / 11 / 2025, page 21 / 547 13 / 416 that the first and second wires are configured to: change length in response to the electrical current supplied by the first and second wires, respectively; and control the first and second clamping members to retain and release the needle from the first and second clamping slots.

[0022] The present description refers to a suturing device, including: a needle configured to include a channel for the passage of a suture through it; a fixed arm integrated with a fixed jaw including a first clamping slot configured to receive the needle; a movable jaw movably coupled to a movable arm including a second clamping slot configured to receive the needle, the movable jaw configured to rotate around a reference body on the fixed arm and relative to the fixed jaw;and a needle transfer mechanism including first and second needle gripping members configured to grip the needle in the first gripping slot or the second gripping slot, the first and second needle gripping members being coupled to the first and second wires and configured to engage one or more features on the needle to selectively retain and release the needle from the first and second gripping slots in response to the electrical current supplied by the first and second wires.

[0023] The present description refers to a suturing device, including: a first jaw including a Petition 870250100843, dated 04 / 11 / 2025, page 22 / 547 14 / 416 first clamping slot configured to receive a needle; a second jaw including a second clamping slot configured to receive the needle; and a needle transfer mechanism, including: a first clamping member positioned in the first jaw and selectively extendable in the first clamping slot; a first wire coupled to the first clamping member, wherein the first wire is configured to change length in response to the electric current supplied by the first wire; a first potential energy member, wherein the first potential energy member is configured to transition between a first configuration and a second configuration to apply a force on the first clamping member; a second clamping member positioned in the second jaw; a second wire coupled to the second clamping member, wherein the second wire is configured to change length in response to the electric current supplied by the second wire;and a second potential energy member, wherein the second potential energy member is configured to transition between a first configuration and a second configuration to apply a force on the second clamping member, wherein: the first clamping member is configured to couple in a removable manner to the needle; and the second clamping member is configured to couple in a removable manner to the needle. Petition 870250100843, dated 04 / 11 / 2025, page 23 / 547 15 / 416

[0024] The present description refers to a suturing device, including: a fixed arm formed in one piece with a fixed jaw including a first gripping slot configured to receive a needle; a movable jaw movably coupled to a movable arm including a second gripping slot configured to receive the needle, the movable jaw configured to rotate around a reference body on the fixed arm and relative to the fixed jaw; and a needle transfer mechanism including: a first gripping member configured to fix the needle in the first gripping slot and release the needle from the first gripping slot, the first gripping member configured to selectively engage the needle while the needle is positioned in the first gripping slot; a first thread coupled to the first gripping member, wherein the first thread is configured to change length in response to the electric current supplied by the first thread;a first potential energy member, wherein the first potential energy member is configured to transition between a first configuration and a second configuration to apply a force on the first clamping member; a second clamping member configured to fix the needle in the second clamping slot and release the needle from the second clamping slot, the first clamping member configured to selectively engage the needle while the needle is in place; Petition 870250100843, dated 04 / 11 / 2025, page 24 / 547 16 / 416 positioned in the first clamping slot; a second wire coupled to the second clamping member, wherein the second wire is configured to change length in response to the electric current supplied through the second wire; and a second potential energy member, wherein the second potential energy member is configured to transition between a first configuration and a second configuration to apply a force on the second clamping member.

[0025] The present description refers to a suturing device, including: an elongated body; a fixed jaw body extending from the elongated body and including a linear guide; a fixed jaw coupled in a fixed manner to the fixed jaw body and extending from the fixed jaw body; a movable jaw coupled to the fixed jaw body in the linear guide and configured to move linearly relative to the fixed jaw in the linear guide; and a drive mechanism, including: a wire configured to move the movable jaw along the linear guide, wherein the wire is configured to change length in response to the electric current supplied by the wire. In some embodiments, the present description refers to a suturing device of any of the preceding clauses, wherein the drive mechanism additionally includes: a potential energy member, wherein: the wire is configured to move the movable jaw along Petition 870250100843, dated 04 / 11 / 2025, page 25 / 547 17 / 416 of the linear guide in a first direction; and the potential energy member is configured to move the movable jaw along the linear guide in a second direction opposite to the first direction.

[0026] The present description refers to a suturing device, including: an elongated body; a fixed jaw body extending from the elongated body and including a jaw joint; a fixed jaw coupled in a fixed manner to the fixed jaw body and extending from the fixed jaw body; a movable jaw coupled to the fixed jaw body and configured to rotate relative to the fixed jaw around the jaw joint; and a drive mechanism, including: a wire configured to rotate the movable jaw around the jaw joint, wherein the wire is configured to change length in response to the electric current supplied by the wire.In some embodiments, the present description refers to a suturing device, wherein the drive mechanism additionally includes: a potential energy member, in which: the thread is configured to rotate the movable jaw around the jaw joint in a first direction; and the potential energy member is configured to rotate the movable jaw around the jaw joint in a second direction opposite to the first direction.

[0027] This description refers to a device Petition 870250100843, dated 04 / 11 / 2025, p. 26 / 547 18 / 416 suture device, including: a needle; a first needle retention member including a first hole configured to receive the needle; a second needle retention member in alignment with the first needle retention member including a second hole configured to receive the needle; and a needle transfer mechanism positioned at least partially within the first needle retention member, including: a thread coupled to the needle, wherein: the thread is configured to change length in response to the electrical current supplied by the thread; and the needle transfer mechanism is configured to move the needle from the first hole of the first needle retention member to the second hole of the second needle retention member. In some embodiments, the present description refers to a suture device, wherein the first needle retention member and the second needle retention member are fixed relative to each other.

[0028] The present description refers to a suturing device, including: a first jaw including a first clamping slot configured to receive a needle; a second jaw including a second clamping slot configured to receive the needle, wherein the second jaw is movable relative to the first jaw; and a needle transfer mechanism configured to secure the needle in Petition 870250100843, dated 04 / 11 / 2025, page 27 / 547 19 / 416 first clamping slot or second clamping slot and release the needle from the first clamping slot or second clamping slot, wherein the needle transfer mechanism includes a wire configured to change length in response to the electric current supplied by the wire.

[0029] In some embodiments, the present description refers to a suturing device, wherein the needle transfer mechanism includes: a first clamping member positioned in the first jaw and selectively extendable in the first clamping slot; a first thread coupled to the first clamping member, wherein the first thread is configured to change length in response to the electric current supplied by the first thread; a second clamping member positioned in the second jaw and selectively extendable in the second clamping slot; and a second thread coupled to the second clamping member, wherein the second thread is configured to change length in response to the electric current supplied by the second thread, wherein: the first clamping member is configured to couple in a removable manner to the needle; and the second clamping member is configured to couple in a removable manner to the needle.In some embodiments, the present description refers to a suturing device, in which the first thread is configured to move the first clamping member from a first position to a second position when the current is applied. Petition 870250100843, dated 04 / 11 / 2025, p. 28 / 547 20 / 416 electrical power is supplied by the wire, wherein: the first clamping member is configured to engage with the needle in the first position; and the first clamping member is configured to disengage from the needle in the second position. In some embodiments, the present description refers to a suturing device additionally including a first potential energy member, wherein: the first potential energy member is configured to transition between a first configuration and a second configuration; and the first potential energy member is configured to move the first clamping member from the second position to the first position when the first potential energy member transitions from the second configuration to the first configuration.In some embodiments, the present description refers to a suturing device, wherein the second thread is configured to move the second clamping member from a first position to a second position when electric current is supplied by the thread, in which: the second clamping member is configured to engage with the needle in the first position; and the second clamping member is configured to disengage from the needle in the second position. In some embodiments, the present description refers to a suturing device, additionally including a second potential energy member, in which: the second potential energy member is configured to transition between a first position. Petition 870250100843, dated 04 / 11 / 2025, page 29 / 547 21 / 416 configuration and a second configuration; and the second potential energy member is configured to move the second clamping member from the second position to the first position when the second potential energy member transitions from the second configuration to the first configuration. In some embodiments, the present description refers to a suturing device, additionally including an input, wherein the input, when actuated once, is configured to cause a power source coupled to the first thread and the second thread to de-energize the first thread and energize the second thread. In some embodiments, the present description refers to a suturing device, additionally including an input, wherein the input, when actuated once, is configured to cause the power source coupled to the first thread and the second thread to de-energize the second thread and energize the first thread.In some embodiments, the present description refers to a suturing device, additionally including an entry point, wherein the entry point, when activated once, is configured to cause a power source coupled to the first thread and the second thread to: de-energize one of the first threads or the second thread coupled to one of the first clamping member or the second clamping member not coupled to the needle before the entry point is activated; and energize one of the first threads or the second thread coupled to one of the first member. Petition 870250100843, dated 04 / 11 / 2025, page 30 / 547 22 / 416 clamp coupled to the needle before actuation of the entry. In some embodiments, the present description refers to a suturing device, additionally including a first entry and a second entry, wherein: the first entry, when actuated once, is configured to cause a power source coupled to the first thread and the second thread to de-energize the first thread and energize the second thread; and the second entry, when actuated once, is configured to cause the power source coupled to the first thread and the second thread to de-energize the second thread and energize the first thread.In some embodiments, the present description refers to a suturing device, additionally including: a first loop; a second loop; and a force sensor, wherein: the force sensor is configured to detect the contact and closing force between the first loop and the second loop as the first loop and the second loop are closed; and the force sensor, upon detecting a limit force, is configured to cause a power source coupled to the first thread and the second thread to de-energize the first thread and energize the second thread. In some embodiments, the present description refers to a suturing device in which the force sensor, upon detecting the limit force, is configured to cause the power source to de-energize the second thread and energize the first thread. In some embodiments, the present description... Petition 870250100843, dated 04 / 11 / 2025, p. 31 / 547 23 / 416 refers to a suturing device, additionally including: a first loop; a second loop; and a force sensor, wherein: the force sensor is configured to detect the contact and closing force between the first loop and the second loop as the first loop and the second loop are closed; the force sensor, upon detecting a limit force, is configured to cause a power source coupled to the first thread and the second thread to de-energize one of the first thread or the second thread coupled to one of the first clamping member or the second clamping member not coupled to the needle before the limit force is detected; and the force sensor, upon detecting the limit force, is configured to cause the power source coupled to the first thread and the second thread to energize one of the first thread or the second thread coupled to one of the first clamping member or the second clamping member coupled to the needle before the limit force is detected.In some embodiments, the present description refers to a suturing device, additionally including: a fixed arm formed in a single piece with the first jaw; and a movable arm movably coupled to the second jaw, the second jaw being configured to rotate about a reference body on the fixed arm and relative to the fixed jaw. In some embodiments, the present description refers to a suturing device in which the fixed arm... Petition 870250100843, dated 04 / 11 / 2025, p. 32 / 547 24 / 416 additionally includes an arm joint coupled to the movable arm, wherein the movable arm is configured to rotate about the arm joint and relative to the fixed arm. In some embodiments, the present description refers to a suturing device, wherein the fixed arm additionally comprises a jaw joint located on the reference body, wherein the jaw joint is coupled to the second jaw, and wherein the second jaw is configured to rotate about the jaw joint and relative to the first jaw. In some embodiments, the present description refers to a suturing device, wherein the suturing device additionally includes a connecting joint configured to connect the movable arm and the second jaw, wherein the movable arm is configured to move the connecting joint to cause the second jaw to rotate about the jaw joint.In some embodiments, the present description refers to a suturing device, additionally including: a fixed jaw body including a linear guide; the first jaw fixedly coupled to the fixed jaw body and extending from the fixed jaw body; the second jaw coupled to the fixed jaw body on the linear guide and configured to move linearly relative to the first jaw on the linear guide; and a drive mechanism, including: a wire configured to move the... Petition 870250100843, dated 04 / 11 / 2025, p. 33 / 547 25 / 416 second jaw along the linear guide, wherein the thread is configured to change length in response to the electric current supplied by the thread. In some embodiments, the present description refers to a suture device, wherein the drive mechanism additionally includes: a potential energy member, wherein: the thread is configured to move the second jaw along the linear guide in a first direction; and the potential energy member is configured to move the second jaw along the linear guide in a second direction opposite to the first direction.In some embodiments, the present description refers to a suturing device, additionally including: a fixed jaw body including a jaw joint; the first jaw fixedly coupled to the fixed jaw body and extending from the fixed jaw body; the second jaw coupled to the fixed jaw body and configured to rotate relative to the fixed jaw around the jaw joint; and a drive mechanism, including: a wire configured to rotate the second jaw around the jaw joint, wherein the wire is configured to change length in response to the electric current supplied by the wire. In some embodiments, the present description refers to a suturing device, wherein the drive mechanism additionally includes: a potential energy member, wherein: the wire is configured. Petition 870250100843, dated 04 / 11 / 2025, p. 34 / 547 26 / 416 to rotate the second jaw around the jaw joint in a first direction; and the potential energy member is configured to rotate the second jaw around the jaw joint in a second direction opposite to the first direction. In some embodiments, the present description refers to a suturing device, additionally including: a fixed arm formed in one piece with the first jaw; a first loop coupled to a proximal end of the fixed arm; a movable arm movably coupled to the second jaw, the second jaw being configured to rotate around a reference body on the fixed arm and relative to the fixed jaw; and a second loop coupled to a proximal end of the movable arm. In some embodiments, the present description refers to a suturing device, additionally comprising a single loop.In some embodiments, the present description refers to a suturing device, additionally including: a fiber optic camera comprising an optical wire extending through the suturing device, wherein the fiber optic camera is configured to generate image data from an operational location of the suturing device. In some embodiments, the present description refers to a suturing device, additionally including: an electric field sensor positioned on a surface of the suturing device and configured to locate nerves. Petition 870250100843, dated 04 / 11 / 2025, p. 35 / 547 27 / 416 within and around an operating site of the suturing device. In some embodiments, the present description refers to a suturing device, additionally including a piezoelectric film positioned on a surface of at least one of the first or second jaws, wherein the piezoelectric film is configured to vibrate at least one of the first or second jaws.

[0030] The present description refers to a suturing device, including: a fixed arm formed in a single piece with a fixed jaw including a first clamping slot configured to receive a needle; a movable jaw movably coupled to a movable arm including a second clamping slot configured to receive the needle, the movable jaw configured to rotate around a reference body on the fixed arm and relative to the fixed jaw; a needle transfer mechanism including a first and second plates configured to clamp the needle in the first clamping slot or the second clamping slot and release the needle from the first clamping slot or the second clamping slot, the first and second plates being configured to selectively engage the needle while the needle is positioned in the first clamping slot or the second clamping slot;and at least one of a fiber optic camera, an electric field sensor, or a piezoelectric film. Petition 870250100843, dated 04 / 11 / 2025, page 36 / 547 28 / 416

[0031] In some embodiments, the present description refers to a suturing device, wherein: the first plate includes a first control bar configured to advance a first gripping member toward a first needle receptacle disposed in the first gripping slot to hold the needle in the first gripping slot or to retract the first gripping member from the first receptacle to release the needle from the first gripping slot; and the second plate includes a second control bar configured to advance a second gripping member toward a second needle receptacle disposed in the second gripping slot to hold the needle in the second gripping slot or to retract the second gripping member from the second receptacle to release the needle from the second gripping slot.In some embodiments, the present description refers to a suturing device, additionally including a lever configured to move between: a first position to advance the first control bar to hold the needle in the first gripping slot and retract the second control bar to release the needle from the second gripping slot, a second position to retract the first control bar to release the needle from the first gripping slot and retract the second control bar to release the needle from the second gripping slot, and a third position to retract the first control bar to release the needle from the first gripping slot. Petition 870250100843, dated 04 / 11 / 2025, page 37 / 547 29 / 416 clamping slot and advance the second control bar to hold the needle in the second clamping slot. In some embodiments, the present description refers to a suturing device, additionally including a cover disposed partially over the lever, the cover comprising indicators corresponding to movements of the lever to the first position, the second position, and the third position. In some embodiments, the present description refers to a suturing device, additionally including a switching joint coupled to the first control bar and the second control bar. In some embodiments, the present description refers to a suturing device, in which the lever is coupled to the switching joint, wherein the lever is configured to rotate the switching joint to move the first control bar and the second control bar.In some embodiments, the present description refers to a suturing device wherein the fixed arm additionally includes an arm joint coupled to the movable arm, and wherein the movable arm is configured to rotate about the arm joint and relative to the fixed arm. In some embodiments, the present description refers to a suturing device wherein the fixed arm additionally comprises a jaw joint located on the reference body, wherein the jaw joint is coupled to the movable jaw, and wherein the movable jaw is configured. Petition 870250100843, dated 04 / 11 / 2025, p. 38 / 547 30 / 416 to rotate around the jaw joint and relative to the fixed jaw. In some embodiments, the present description refers to a suturing device, wherein the suturing device additionally includes a connecting joint configured to connect the movable arm and the movable jaw, wherein the movable arm is configured to move the connecting joint to cause the movable jaw to rotate around the jaw joint. In some embodiments, the present description refers to a suturing device, additionally including: a fiber optic camera that includes an optical wire extending through the suturing device, wherein the fiber optic camera is configured to generate image data from an operating location of the suturing device.In some embodiments, the present description refers to a suturing device, additionally including: an electric field sensor positioned on a surface of the suturing device and configured to locate nerves within and around an operating site of the suturing device. In some embodiments, the present description refers to a suturing device, additionally including a piezoelectric film positioned on a surface of at least one of the first or second jaws, wherein the piezoelectric film is configured to vibrate at least one of the first or second jaws.

[0032] The present description refers to a method of Petition 870250100843, dated 04 / 11 / 2025, p. 39 / 547 31 / 416 suture, including: forming an incision in a vaginal wall to gain access to a patient's pelvic cavity; positioning a first suture device within a pelvic cavity and adjacent to a first target tissue through the incision, the first target tissue being a first pelvic arch tendinous fascia (TAFP) in the pelvic cavity; placing, using the first suture device, at least one suture in the first TAFP; placing at least one suture in the vesicovaginal fascia, with at least one suture in the vesicovaginal fascia connected to at least one suture in the first TAFP; and pulling at least one suture in the first TAFP and at least one suture in the vesicovaginal fascia to form a loop, thus approximating the vaginal wall to the first TAFP.

[0033] In some embodiments, the present description refers to a method in which pulling at least one suture in the ATFP and at least one suture in the vesicovaginal fascia results in elevation of the vaginal wall, bladder neck, and urethra. In some embodiments, the present description refers to a method that additionally includes: positioning the suture device within the pelvic cavity and adjacent to a second target tissue through the incision, the second target tissue being a second ATFP in the pelvic cavity; placing at least one suture in the second ATFP; placing at least one suture in the vesicovaginal fascia, the second target tissue being a second ATFP in the pelvic cavity. Petition 870250100843, dated 04 / 11 / 2025, p. 40 / 547 32 / 416 minus one suture in the vesicovaginal fascia connected to at least one suture in the second ATFP; and pulling at least one suture in the second ATFP and at least one suture in the vesicovaginal fascia to form a loop, thus approximating the vaginal wall to the second ATFP. In some embodiments, the present description refers to a method in which the anatomical position of at least one of the vaginal wall, bladder neck, or urethra in the pelvic cavity is restored. In some embodiments, the present description refers to a method in which the anatomical position of both the vaginal wall and the bladder neck and urethra in the pelvic cavity is restored. In some embodiments, the present description refers to a method in which the physiological function of at least one of the vaginal wall, bladder neck, or urethra in the pelvic cavity is restored.In some embodiments, the present description refers to a method in which the physiological function of both the vaginal wall and the bladder neck and urethra in the pelvic cavity is restored. In some embodiments, the present description refers to a method in which at least one suture is formed from at least one of a line, a fiber, a filament, and a thread. In some embodiments, the present description refers to a method in which at least one suture is formed from an absorbable material. In some embodiments, the present description refers to a method in which at least one suture is formed. Petition 870250100843, dated 04 / 11 / 2025, p. 41 / 547 33 / 416 of a non-absorbable material. In some embodiments, the present description refers to a method in which at least one suture in the first or second ATFP is placed in an anteroposterior part of the first or second ATFP. In some embodiments, the present description refers to a method in which at least one suture in the first or second ATFP is placed at the junction of the pubic ramus and pubic symphysis. In some embodiments, the present description refers to a method in which at least one suture in the first or second ATFP includes a first suture and a second suture, wherein the first suture is placed in an anteroposterior part of the first or second ATFP, and the second suture is placed in a mediolateral pubic part of the first or second ATFP, at a distance of 0.5 to 1 cm posteroinferior to the first suture.In some embodiments, the present description refers to a method in which, after forming the incision in the vaginal wall and before positioning the device within the pelvic cavity, the method additionally includes forming a dissection from the vesicovaginal fascia towards the junction of the pubic ramus and pubic symphysis. In some embodiments, the present description refers to a method in which the restoration is performed solely using sutures without a mesh. In some embodiments, the present description refers to a method in which, when a... Petition 870250100843, dated 04 / 11 / 2025, p. 42 / 547 34 / 416 The vesicovaginal fascia is approximated bilaterally to the ATFPs, restoring the connection between the pelvic floor structures and the urethra and bladder neck. In some embodiments, the present description refers to a method in which at least one suture in the vesicovaginal fascia is placed with a second suture device. In some embodiments, the present description refers to a method that additionally includes palpating a tissue to determine a target tissue location within the pelvic cavity.

[0034] In some embodiments, the present description refers to a suturing method, including: forming a transverse incision in a vaginal wall to gain access to a patient's pelvic cavity; positioning a suturing device within a pelvic cavity and adjacent to a target tissue by the incision, the target tissue being a sacrospinous ligament in the pelvic cavity; placing a plurality of sutures in the target tissue; placing a plurality of sutures in the cervix or vaginal vault; and pulling the plurality of sutures to form a bond with the sutures passed in the sacrospinous ligament and in the cervix or vaginal vault to correct apical prolapse.

[0035] In some embodiments, the present description refers to a suturing method, including: forming an incision in a vaginal wall to gain access to a patient's pelvic cavity; positioning a device Petition 870250100843, dated 04 / 11 / 2025, p. 43 / 547 35 / 416 suture within a pelvic cavity through the incision, the suturing device including a movable jaw and a fixed jaw; open the movable jaw relative to the fixed jaw until a target tissue in the pelvic cavity is positioned between the movable jaw and the fixed jaw, the target tissue being each of the pelvic arch tendinous fasciae (TAF) in the pelvic cavity; place a plurality of sutures in the target tissue, the plurality of sutures being placed in each pelvic arch tendinous fasciae (TAF); place a plurality of sutures in the vesicovaginal fascia; and optionally pull the plurality of sutures in any order to form a loop with the sutures passed in the ATFP and vesicovaginal fascia to approximate the vaginal wall to the ATFP on each side and elevate the vaginal wall, bladder neck, and urethra to restore their anatomical and physiological positions in the pelvic cavity.

[0036] In some embodiments, the present description refers to a method, including additionally forming a dissection from the vesicovaginal fascia towards the junction of the pubic ramus and the pubic symphysis. In some embodiments, the present description refers to a method, including additionally palpating a tissue to determine a target tissue location within the pelvic cavity. In some embodiments, the present description refers to a method, including additionally pulling the device from Petition 870250100843, dated 04 / 11 / 2025, p. 44 / 547 36 / 416 suture away from the target tissue to create a distance between the suture device and the target tissue to open the movable jaw relative to the fixed jaw. In some embodiments, the present description refers to a method wherein the suture device additionally includes: a fixed jaw formed in one piece with a distal end of the fixed arm and including a first clamping slot configured to receive a needle; and a movable jaw movably coupled to a distal end of the movable arm, including a second clamping slot configured to receive the needle, the movable jaw being configured to rotate about a reference body on the fixed arm and relative to the fixed jaw.In some embodiments, the present description refers to a method in which the distal ends of the fixed and mobile arms are angled so that the distal end accurately reaches the target tissue in the pelvic cavity to be sutured through a vaginal incision. In some embodiments, the present description refers to a method in which the suturing device additionally includes: a fixed jaw formed in one piece with a distal end of the fixed arm and including a first gripping slot configured to receive a needle; and a mobile jaw movably coupled to a distal end of the mobile arm, including a second gripping slot configured to receive the needle. Petition 870250100843, dated 04 / 11 / 2025, p. 45 / 547 37 / 416 the movable jaw is configured to move linearly relative to the fixed arm.

[0037] In some embodiments, the present description refers to a suturing method, including: positioning a suturing device within a patient's pelvic cavity through an incision in a vaginal wall, the suturing device including a movable jaw and a fixed jaw; opening the movable jaw relative to the fixed jaw until a target tissue in the pelvic cavity is positioned between the movable and fixed jaws, the target tissue being the pelvic arch tendinous fascia (TAFP); and forming a Z-suture with the suturing device to place a plurality of sutures in the target tissue. In some embodiments, the present description refers to a method, additionally including palpating a tissue to determine a target tissue location within the pelvic cavity.

[0038] In some embodiments, the present description refers to a suturing method, including: positioning a suturing device within a patient's pelvic cavity, the suturing device including a movable jaw and a fixed jaw; opening the movable jaw relative to the fixed jaw until a target tissue in the pelvic cavity is positioned between the movable jaw and the fixed jaw; and providing treatment for organ prolapse. Petition 870250100843, dated 04 / 11 / 2025, p. 46 / 547 38 / 416 pelvic suturing the target tissue using the suturing device to place a plurality of sutures in the target tissue to suture the target tissue to the apical vaginal wall or cervix, the target tissue being in the form of a ligament in the pelvic cavity, such that suturing the ligament to the apical vaginal wall or cervix provides an elevation of the vaginal apex. In some embodiments, the present description refers to a method, including additionally palpating a tissue to determine a location of the target tissue within the pelvic cavity.

[0039] In some embodiments, the present description refers to a suturing method, including: positioning a suturing device within a patient's pelvic cavity by means of an incision in a vaginal wall, the suturing device including a movable jaw and a fixed jaw and a needle; opening the movable jaw relative to the fixed jaw until a target tissue in the pelvic cavity is positioned between the movable jaw and the fixed jaw; and actuating the movable jaw relative to the fixed jaw so that the movable jaw moves toward the fixed jaw to move a needle positioned in at least one of the movable and fixed jaws through the target tissue to apply a suture to the target tissue; optionally wherein the suturing device is sized and shaped to be received in the cavity Petition 870250100843, dated 04 / 11 / 2025, p. 47 / 547 39 / 416 pelvic access through the vaginal wall in order to position sutures to elevate the vaginal wall, bladder neck, and urethra to restore their anatomical and physiological positions in the pelvic cavity.

[0040] In some embodiments, the present description refers to a method, including additionally palpating a tissue to determine a target tissue location within the pelvic cavity. In some embodiments, the present description refers to a method, wherein the suturing device additionally includes: a fixed jaw formed in one piece with a distal end of the fixed arm and including a first gripping slot configured to receive a needle; and a movable jaw movably coupled to a distal end of the movable arm, including a second gripping slot configured to receive the needle, the movable jaw being configured to rotate about a reference point on the fixed arm and relative to the fixed jaw while the fixed jaw remains stationary.In some embodiments, the present description refers to a method in which the distal end of the fixed and mobile arms is angled so that the distal end precisely reaches the target tissue in the pelvic cavity to be sutured through the vaginal wall.

[0041] In some embodiments, the present description refers to a suturing device, including: a loop; Petition 870250100843, dated 04 / 11 / 2025, p. 48 / 547 40 / 416 an elongated arm connected to the handle at a proximal end thereof and with a first movable jaw and a second fixed jaw positioned at a distal end thereof, the first jaw being movable and comprising a first clamping slot configured to receive a needle and the second jaw being fixed and comprising a second clamping slot configured to receive the needle; and a chuck mechanism configured to connect the handle to the elongated arm so that the first and second jaws at the distal end of the arm are rotatable around a longitudinal geometric axis of the arm to allow the first and second jaws to assume any angular position while the handle remains fixed.

[0042] In some embodiments, the chuck mechanism comprises a user-operated button configured to move a spring-loaded pin positioned within the chuck mechanism to one of at least one recess positioned along an angular path of the chuck mechanism. In some embodiments, the position of the pin within one of at least one recess is configured to define an angular position of the first and second jaws.

[0043] In some embodiments, the suturing device additionally comprises a lever mechanism configured to move the first jaw relative to the Petition 870250100843, dated 04 / 11 / 2025, page 49 / 547 41 / 416 second jaw in a linear guide. In some embodiments, the lever mechanism has a distal position in which the first and second jaws are fully closed and a proximal position in which the first and second jaws are fully open.

[0044] In some embodiments, the suturing device further comprises a needle transfer mechanism configured to transfer a needle between a first clamping slot in the first jaw and a second clamping slot in the second jaw to apply sutures to a target tissue. In some embodiments, the needle transfer mechanism comprises: a toggle switch configured to move between a distal position and a proximal position transferring the needle between the first jaw and the second jaw using a first cable and a second cable; wherein a distal position of the toggle switch transfers the needle from the first jaw to the second jaw by pulling the first cable, and wherein the proximal position of the toggle switch transfers the needle from the second jaw to the first jaw by pulling the second cable.

[0045] In some embodiments, the suturing device further comprises: one or more image sensors comprising one or more optical threads extending through the suturing device, wherein the one or more sensors of Petition 870250100843, dated 04 / 11 / 2025, p. 50 / 547 42 / 416 images are configured to generate image data from an operating site of the suture device. In some embodiments, the suture device further comprises: one or more electric field sensors positioned on a surface of the suture device and configured to locate nerves within and around an operating site of the suture device. In some embodiments, the suture device further comprises one or more piezoelectric films positioned on a surface of at least one of the first or second jaws, wherein the one or more piezoelectric films are configured to vibrate at least one of the first or second jaws.

[0046] In some embodiments, the suturing device further comprises a double-action needle discharge button positioned at a proximal end of the handle, the double-action needle discharge button being configured to discharge the needle while the first and second jaws are open.

[0047] The present description refers to a suturing device comprising: a loop; and an elongated arm connected to the loop at a proximal end thereof and with the first and second jaws positioned at a distal end thereof, the first jaw comprising a first clamping slot configured for Petition 870250100843, dated 04 / 11 / 2025, page 51 / 547 43 / 416 receiving a needle and the second jaw comprising a second clamping slot configured to receive the needle, the first and second jaws having a fixed hole between them; wherein the distal end of the arm is angled in relation to the proximal end so that the distal end is configured to reach a target tissue to be sutured.

[0048] In some forms, the first and second jaws are rotated between 60 and 90 degrees relative to the extended arm.

[0049] In some embodiments, the suturing device further comprises: one or more image sensors comprising one or more optical wires extending through the suturing device, wherein the one or more image sensors are configured to generate image data from an operating site of the suturing device. In some embodiments, the suturing device further comprises: one or more electric field sensors positioned on a surface of the suturing device and configured to locate nerves within and around an operating site of the suturing device. In some embodiments, the suturing device further comprises one or more piezoelectric films positioned on a surface of at least one of the first or second mandibles, wherein the one or more films Petition 870250100843, dated 04 / 11 / 2025, p. 52 / 547 44 / 416 piezoelectric elements are configured to vibrate at least one of the first or second jaws.

[0050] The present description refers to a suture needle comprising: an elongated body with a proximal end and a distal end; a first circumferential slot positioned at the proximal end of the elongated body and a second circumferential slot positioned at the distal end of the elongated body, the first and second circumferential slots being configured to interact with a suture device; and a thread slot formed in a middle portion of the elongated body between the proximal and distal ends of the elongated body, the thread slot being configured to receive a thread, wherein the thread is forcibly deformed in the thread slot creating a desired retention force between the suture needle and the thread to join the thread to the suture needle.

[0051] In some embodiments, the line slit has a cross-sectional geometry that is at least one of rectangular, triangular, inclined, straight, linear, or circumferential. BRIEF DESCRIPTION OF THE FIGURES

[0052] The present description is further detailed in the detailed description that follows, with reference to the aforementioned plurality of drawings by way of example, not limiting examples of embodiments, in which numbers of Petition 870250100843, dated 04 / 11 / 2025, p. 53 / 547 45 / 416 similar references represent similar parts throughout the various views of the drawings, and where: Figure 1 shows a cross-sectional view of a suturing device, according to some embodiments described in this document; Figure 2 shows a cross-sectional view of a suturing device, according to some embodiments described in this document; Figures 3A and 3B show one embodiment of a suturing device, according to some embodiments described in this document; Figures 4A and 4B show a configuration of tightening cracks in a suture device, according to some embodiments described in this document; Figures 5A, 5B, 5C and 5D show an embodiment of a suturing device including movement of a movable arm and a movable jaw and transfer of a needle, according to some embodiments described in this document; Figures 6A, 6B and 6C show an embodiment of a suturing device including joints to facilitate the movement of a movable arm and a movable jaw, according to some embodiments described in this document; Figure 7A shows a concave needle for a Petition 870250100843, dated 04 / 11 / 2025, p. 54 / 547 46 / 416 suture device, according to some embodiments described in this document; Figures 7B, 7C, 7D and 7E show a straight needle for a suturing device, according to some embodiments described in this document; Figure 7F, Figure 7G, Figure 7H and Figure 7I show an embodiment of a needle featuring a needle-thread junction based on an open channel characteristic, according to some embodiments described in this document; Figures 7J, 7K, 7L and 7M show cross-sectional views of a suturing device showing an embodiment of a needle transfer mechanism, according to some embodiments described in this document; Figure 7MM shows a cross-sectional view of a suturing device showing one embodiment of a needle transfer mechanism, according to some embodiments described in this document; Figure 7N shows a cross-sectional view of a suturing device showing one embodiment of a needle transfer mechanism, according to some embodiments described in this document; Figures 7O and 7P show cross-sectional views of a needle transfer mechanism, according to Petition 870250100843, dated 04 / 11 / 2025, page 55 / 547 47 / 416 some modalities described in this document; Figures 8A and 8B show a suturing device including a user interface, according to some embodiments described in this document; Figure 8C shows a suturing device and a loading device, according to some embodiments described in this document; Figures 9A and 9B show an external unit for coupling to a suturing device, according to some embodiments described in this document; Figures 10A, 10B and 10C show embodiments of a suturing device including a force sensor, according to some embodiments described in this document. Figures 11A and 11B show a suture device with fixation limbs, according to some embodiments described in this document; Figure 12A and Figure 12B show modalities of suture device formats, according to some modalities described in this document; Figures 13A and 13B show a suturing device, according to some embodiments described in this document; Figures 14A, 14B, 14C, 14D, and 14E show flowcharts of representative methods of operating a suturing device, according to some embodiments in the present Petition 870250100843, dated 04 / 11 / 2025, p. 56 / 547 48 / 416 document described; Figures 15A, 15B and 15C show a concave needle, according to some embodiments described in this document; Figures 16A, 16B, 16C and 16D show a suturing device, according to some embodiments described in this document; Figures 17A, 17B, 17C and 17D show a straight needle, according to some embodiments described in this document; Figures 18A, 18B, 18C and 18D show embodiments of a suturing and linear movement device for a movable mandible relative to a fixed mandible, according to some embodiments described in this document; Figure 19A shows a partially exploded view of a suturing device, according to some embodiments described in this document; Figure 19B shows a partially exploded view of a suturing and actuating device, according to some embodiments described in this document; Figure 20A shows a transparent view of a fixed jaw body of a suturing device, according to some embodiments described in this document; Figure 20B shows a cross-sectional view of the fixed jaw body, jaws, and actuators of a Petition 870250100843, dated 04 / 11 / 2025, p. 57 / 547 49 / 416 suture device, according to some embodiments described in this document; Figures 20C, 20D, 20E and 20F show a drive mechanism for moving a movable jaw in a linear manner, according to some embodiments described in this document; Figure 21 shows a transparent view of a suturing device, according to some embodiments described in this document; Figures 22A, 22B and 22C show a suturing device with an optical camera, according to some embodiments described in this document; Figures 23A and 23B show a suturing device with an electric field sensor, according to some embodiments described in this document; Figures 24A and 24B show a foot pedal for use with a suturing device, according to some embodiments described in this document; Figure 25 shows a piezoelectric film in the jaw of a suturing device, according to some embodiments described in this document; Figure 26A shows a suturing device, according to some embodiments described in this document; Figure 26B shows a cross-sectional view of the suture device in Figure 26A, according to some Petition 870250100843, dated 04 / 11 / 2025, p. 58 / 547 50 / 416 modalities described in this document; Figure 26C shows one embodiment of a suture device, according to some embodiments described in this document; Figures 27A and 27B show a suturing device, according to some embodiments described in this document; and Figures 28A, 28B, 28C and 28D show a drive mechanism for rotating a movable jaw relative to a fixed jaw, according to some embodiments described in this document.

[0053] Figure 29A and Figure 29B show one embodiment of the suture device.

[0054] Figure 30A and Figure 30B show one embodiment of the clamping slots of the suture device.

[0055] Figure 31A and Figure 31B show an embodiment of the suturing device including movement of the movable arm and movable jaw while the needle is attached to the fixed jaw.

[0056] Figure 31C and Figure 31D show an embodiment of the suture device including the needle transfer mechanism transferring the needle.

[0057] Figure 31E shows a embodiment of the suturing device including movement of the movable arm and movable jaw while the needle is held in the jaw. Petition 870250100843, dated 04 / 11 / 2025, page 59 / 547 51 / 416 mobile.

[0058] Figure 32A, Figure 32B and Figure 32C show an embodiment of the suturing device including joints to facilitate movement of the movable arm and movable jaw.

[0059] Figure 33A shows one embodiment of a concave needle for the suture device.

[0060] Figure 33B, Figure 33C, Figure 33D and Figure 33E show an embodiment of a straight needle for the suture device.

[0061] Figure 33F, Figure 33G, Figure 33H and Figure 33I show an embodiment of a needle featuring a needle-thread connection based on an open channel feature.

[0062] Figure 33J shows one embodiment of the suture device including mechanisms for attaching and releasing the needle.

[0063] Figure 33K, Figure 33L and Figure 33M show an exploded view of an embodiment of the control bars and clamping members.

[0064] Figure 33N, Figure 33O and Figure 33P show an embodiment of the suture device including mechanisms for attaching and releasing the needle.

[0065] Figure 34A, Figure 34B and Figure 34C show an embodiment of the suture device including the stop. Petition 870250100843, dated 04 / 11 / 2025, page 60 / 547 52 / 416 in an activated position.

[0066] Figure 35A and Figure 35B show an embodiment of the suturing device including the activated stop and the safety member preventing movement of the movable arm and movable jaw when the needle is not attached.

[0067] Figure 36A and Figure 36B show an embodiment of the suturing device including the activated stop allowing movement of the movable arm and movable jaw when the needle is clamped in the first clamping slot.

[0068] Figure 36C and Figure 36D show an embodiment of the suture device including the activated stop allowing movement of the movable arm and movable jaw when the needle is clamped in the second clamping slot.

[0069] Figure 37A shows an embodiment of the suture device including the stop transitioning from an active to a deactivated position.

[0070] Figure 37B and Figure 37C show exploded views of the stop and the movable arm.

[0071] Figure 37D and Figure 37E show a embodiment of the suture device including the stop in the deactivated position.

[0072] Figure 38A and Figure 38B show an embodiment of the suture device including the stop in the deactivated position to allow the mobile arm to move. Petition 870250100843, dated 04 / 11 / 2025, p. 61 / 547 53 / 416 even when the needle is not attached.

[0073] Figure 39A shows an exploded view of one embodiment of the suture device.

[0074] Figure 39B and Figure 39C show an embodiment of the suture device with a fixation member.

[0075] Figure 40A and Figure 40B show modalities of suture device formats.

[0076] Figure 41A and Figure 41B show one embodiment of the suture device.

[0077] Figure 41C shows an exploded view of one embodiment of the suture device.

[0078] Figure 42A, Figure 42B and Figure 42C show an embodiment of the loading apparatus and needle.

[0079] Figure 43 shows a rear view of one embodiment of the charging device.

[0080] Figure 44 shows one embodiment of the line-operated charging device.

[0081] Figure 45 shows one embodiment of the suture device loaded with thread from the loading apparatus.

[0082] Figure 46 shows a flowchart of a method for using the suturing device and loading apparatus.

[0083] Figure 47 shows one embodiment of the suture device loaded into the loading apparatus. Petition 870250100843, dated 04 / 11 / 2025, page 62 / 547 54 / 416

[0084] Figures 48A-48I show the use of the loading apparatus to load a suture into the suturing device.

[0085] Figure 49 shows the suture device holding the needle loaded by the loading apparatus.

[0086] Figure 50 shows one embodiment of a suture device, according to some embodiments described in this document.

[0087] Figures 51A, 51B, 51C and 51D show an embodiment of a suturing device featuring a mandrel mechanism for rotating opposing jaws, according to some embodiments described in this document.

[0088] Figures 52A, 52B, 52C, 52D, 52E and 52F show an embodiment of a suturing device with a lever mechanism for opening and closing the jaws, according to some embodiments described in this document.

[0089] Figures 53A, 53B, 53C, 53D, 53E and 53F show an embodiment of a suturing device with a toggle switch for the purpose of needle transfer between jaws, according to some embodiments described in this document.

[0090] Figures 54A, 54B, 54C, 54D, 54E, 54F, 54G and 54H show an embodiment of a suturing device with a double-action needle discharge button, according to Petition 870250100843, dated 04 / 11 / 2025, page 63 / 547 55 / 416 some modalities described in this document.

[0091] Figures 55A, 55B, 55C, 55D and 55E show an embodiment of a suturing device with a needle to be used with the device shown in Figure 50, according to some embodiments described in this document.

[0092] Figures 56A, 56B, 56C and 56D show an embodiment of a suturing device with a needle transfer mechanism, according to some embodiments described in this document.

[0093] Figure 57 shows one embodiment of a suture device, according to some embodiments described in this document.

[0094] Figure 58A, Figure 58B, Figure 58C, Figure 58D, Figure 58F, Figure 58G and Figure 58H show the suture device maneuvering inside the cavity.

[0095] Figure 58E shows a modal of an operator holding the suture device for palpation during suture operations.

[0096] Figure 59A and Figure 59B show a type of mini sling.

[0097] Figure 60 shows a close-up view of a mini sling design including adjustment sutures.

[0098] Figure 61 shows one version of the sling carrier for the mini sling.

[0099] Figure 62 shows a type of mini sling. Petition 870250100843, dated 04 / 11 / 2025, page 64 / 547 56 / 416 placed in the sling carrier.

[00100] Figures 63A, 63B, 63C, 63D, 63E, 63F, 63G, 63H, 63I and 63J show one way of inserting the mini sling.

[00101] Figure 64A illustrates an example diagram of a pelvic cavity.

[00102] Figures 64B and 64C illustrate an exemplary embodiment of a plurality of sutures placed in the pelvic cavity representing a VACS procedure.

[00103] Although the designs identified above present currently described modalities, other modalities are also contemplated, as observed in the discussion. The present description presents illustrative modalities for representational purposes only and not as a limitation. Numerous other modifications and modalities may be conceived by persons skilled in the art that fall within the scope and spirit of the principles of the currently described modalities. DETAILED DESCRIPTION

[00104] The present description includes improved suturing devices and methods of their use. The suturing device can be inserted into a cavity to reach a tissue to be sutured.

[00105] In some embodiments, a suture device, a suture loader, a sling Petition 870250100843, dated 04 / 11 / 2025, p. 65 / 547 57 / 416 Suburethral tension-free mid-urethral suture and methods of its use. The suture loader can carry the needle threaded into the suturing device. The suturing device can be inserted into a cavity to reach tissue to be sutured. The suturing device may include a fixed jaw and a movable jaw, between which the tissue is placed for suturing. The fixed jaw remains in position while the movable jaw moves the threaded needle to suture the tissue. The suturing device includes a needle transfer mechanism that passes the needle between the jaws during tissue suturing. A limiter and a safety member can control the movement of the movable jaw to prevent the needle from falling out when transferred between the jaws. When the suturing is completed, the suturing device can be removed from the cavity along with the needle.

[00106] Any of the suture device modalities described in this document may have various sizes, shapes, and angles that are optimized based on the anatomy for which the suture devices are to be used. Suture devices may have sizes and angles optimized for the safe repair of pelvic floor disorders, due to positional precision and in a minimally invasive manner. Suture devices may have sizes and angles optimized for minimally invasive use. Petition 870250100843, dated 04 / 11 / 2025, p. 66 / 547 58 / 416 invasive in deep, narrow, and invisible surgical sites. The size and angles of the devices can be selected according to the target tissue that each device is designed to reach in order to perform the suture and according to the path that each device needs to travel to reach the target tissue. For example, the path may contain obstacles such as hard and bony tissues or soft tissues. The dimensions and angles can ensure that the surgical methods of using the suture devices can maneuver the suture devices through the path so that the devices are delivered to the target tissue in the least invasive way possible. For example, the path region may be in the pelvic cavity, which can be very similar from patient to patient, with minimal standard deviation. Thus, the calculation can be accurate in different patients, even if they have different body parameters (e.g., height, weight, etc.).Any of the suturing devices described in this document may have a length such that, during the operation of the suturing device, the loop can be kept outside the cavity, while the length defines a portion of the suturing device that can be positioned inside the cavity. For example, suturing devices may have lengths and angles suitable for transvaginal approaches or procedures. Petition 870250100843, dated 04 / 11 / 2025, p. 67 / 547 59 / 416

[00107] The terms distal and proximal may be used in this document to describe the relative positioning of one or more elements. Distal is toward, or closer to, an operative site within a patient. Proximal is in the opposite direction to the distal direction.

[00108] In some embodiments, the suturing devices described herein include a needle for traversing a tissue of interest. In some embodiments, the suturing devices described herein include mechanisms for moving or acting upon a needle. These mechanisms may be referred to as “needle transfer mechanisms.” For example, with reference to Figure 1, a suturing device 100 is shown. The suturing device 100 generally comprises an elongated body 102 and a needle transfer mechanism 112. In some embodiments, a needle 104 is configured to extend from the elongated body 102 to suture a tissue 120. In some embodiments, the needle transfer mechanism 112 includes a muscle thread 108 coupled to the needle 104. In some embodiments, the muscle thread 108 is coupled directly to the needle 104.In some modalities, the muscle thread 108 is indirectly coupled to the needle 104 (for example, by means of one or more components positioned between the muscle thread 108 and the needle 104). In some modalities, the muscle thread 108 may extend from... Petition 870250100843, dated 04 / 11 / 2025, page 68 / 547 60 / 416 proximal mode through at least a portion of the elongated body 102. In some embodiments, the muscle wire 108 may be coupled to a power source 110 configured to deliver electrical current through the muscle wire 108. In some embodiments, the needle transfer mechanism 112 includes a potential energy member 106. The potential energy member 106 may be coupled to the needle 104. In some embodiments, the potential energy member 106 may be directly coupled to the needle 104. In some embodiments, the potential energy member 106 is indirectly coupled to the needle 104 (e.g., by means of one or more components positioned between the potential energy member 106 and the needle 104). In some embodiments, the potential energy member 106 is positioned so that it can apply a force on the needle 104.

[00109] Still referring to Figure 1, in some modalities, the muscle fiber 108 can be configured to change length depending on the electric current supplied to the muscle fiber 108. For example, the muscle fiber 108 can shorten when the energy source 110 supplies electric current to the muscle fiber 108, and the muscle fiber 108 can return to its original extended length when the electric current ceases to be supplied to the muscle fiber 108. In some modalities, when the muscle fiber 108 shortens, it can apply a pulling or thrusting force. Petition 870250100843, dated 04 / 11 / 2025, page 69 / 547 61 / 416 on needle 104 (directly or indirectly, for example, by means of one or more intermediate components) to move needle 104. In some embodiments, the potential energy member 106 can transition from a first form or configuration to a second form or configuration when the muscle fiber 108 shortens. In the second form or configuration, the potential energy member 106 can store energy. When the muscle fiber 108 lengthens, the potential energy member 106 can release the stored energy and return to its first form or configuration, applying, in this process, a thrust or traction force on needle 104 (directly or indirectly, for example, by means of one or more intermediate components) to move needle 104.

[00110] With reference to Figure 2, a suture device 200 is shown. The suture device 200 may comprise an elongated body 202. In some embodiments, a first jaw 204 and a second jaw 206 extend from the elongated body 202 toward a tissue 220 to be sutured. The first jaw 204 and the second jaw 206 may be configured to transfer a needle 208 from the suture device 200 between the jaws 204, 206. The suture device 200 may comprise a needle transfer mechanism 230. In some embodiments, the needle transfer mechanism Petition 870250100843, dated 04 / 11 / 2025, page 70 / 547 62 / 416 230 may include a first gripping member 232 in the first jaw 204, which may move to grip or release the needle 208. In some embodiments, the needle transfer mechanism 230 includes a muscle wire 234 coupled to the first gripping member 232. In some embodiments, the muscle wire 234 is coupled directly to the first gripping member 232. In some embodiments, the muscle wire 234 is coupled indirectly to the first gripping member 232 (e.g., by means of one or more components positioned between the muscle wire 234 and the first gripping member 232). In some embodiments, the muscle wire 234 may extend proximally through at least a portion of the elongated body 202. In some embodiments, the muscle wire 234 may be coupled to a power source 210 configured to deliver electrical current through the muscle wire 234. In some embodiments, the needle transfer mechanism 230 includes a potential energy member 236.The potential energy member 236 can be coupled to the first clamping member 232. In some embodiments, the potential energy member 236 can be directly coupled to the first clamping member 232. In some embodiments, the potential energy member 236 is indirectly coupled to the first clamping member 232 (for example, by means of one or more components positioned between the potential energy member 236 and the first clamping member 232). In some... Petition 870250100843, dated 04 / 11 / 2025, page 71 / 547 63 / 416 modes, the potential energy member 236 is positioned so that it can apply a force on the first clamping member 232.

[00111] Still referring to Figure 2, in some embodiments, the muscle fiber 234 can be configured to change length as a function of the electric current supplied by the muscle fiber 234. For example, the muscle fiber 234 can shorten when the energy source 210 supplies electric current to the muscle fiber 234, and the muscle fiber 234 can return to its original extended length when the electric current ceases to be supplied to the muscle fiber 234. In some embodiments, when the muscle fiber 234 shortens, it can apply a pulling or thrusting force on the first gripping member 232 (directly or indirectly, for example, through one or more intermediate components) to move the first gripping member 232. In some embodiments, the potential energy member 236 can change from a first form or configuration to a second form or configuration when the muscle fiber 234 shortens.In the second form or configuration, the potential energy member 236 can store energy. When the muscle fiber 234 lengthens, the potential energy member 236 can release the stored energy and return to its first form or configuration, applying, in this process, a thrust or traction force. Petition 870250100843, dated 04 / 11 / 2025, page 72 / 547 64 / 416 on the first clamping member 232 (directly or indirectly, for example, by means of one or more intermediate components) to move the first clamping member 232.

[00112] Still referring to Figure 2, the needle transfer mechanism 230 may also include a second gripping member 242 in the second jaw 206, a muscle thread 244 coupled to the second gripping member 242 (directly or indirectly) and to the energy source 210, and a potential energy member 246 coupled to the second gripping member 242 (directly or indirectly), or positioned so as to apply a force on the second gripping member 242. The muscle thread 244 and the potential energy member 246 may operate similarly to the muscle thread 234 and the potential energy member 236 to move the second gripping member 242. The movement of the first gripping member 232 and the second gripping member 242 may control the passage of the needle 208 between the jaws 204 and 206 to suture the tissue 220.

[00113] Although the device shown in Figure 2 has a relatively straight elongated body, a portion of the distal end of the elongated body may be angled relative to the rest of the elongated body. For example, the distal end of the elongated body may form an angle relative to the rest of the body, varying from approximately Petition 870250100843, dated 04 / 11 / 2025, page 73 / 547 65 / 416 at 20 degrees. For example, the elongated body may have a distal portion that extends relative to a proximal portion at an angle of approximately 16 degrees. For example, the elongated body may have a distal portion that extends relative to a proximal portion at an angle of 15.88 degrees. It is contemplated that suture devices may be modified in their dimensions, shapes, and angles in order to optimize the suture device for specific cavities and operations.

[00114] Now, with general reference to Figures 3A and 3B, in some embodiments, the suturing device 2001A may have a scissor shape and ergonomic dimensions to reach target tissues in a confined space. The suturing device 2001A may comprise a fixed arm 2007 formed in one piece with a fixed jaw 2005. In some embodiments, a distal end of the fixed arm 2007 includes the fixed jaw 2005. The suturing device 2001A may comprise a movable arm 2008 coupled to a movable jaw 2006.

[00115] The fixed jaw 2005 and the movable jaw 2006 can both release and hold a needle, and the suturing device 2001A may further comprise a needle transfer mechanism 2004 for transferring the needle between the fixed jaw 2005 and the movable jaw 2006. The needle transfer mechanism 2004 is described in Petition 870250100843, dated 04 / 11 / 2025, page 74 / 547 66 / 416 details further on.

[00116] In some embodiments, the suturing device 2001A may comprise a first loop 2002A attached to the movable arm 2008 and a second loop 2002B attached to the fixed arm 2007. The loop 2002A and the loop 2002B may assist the user in moving the movable arm 2008 relative to the fixed arm 2007. The loop 2002A and the loop 2002B may be disposed at the end of the suturing device 2001A that remains outside the patient cavity during the operation, so that the operator can control the suturing device 2001A. The loop 2002A and the loop 2002B may be disposed at a proximal end of the suturing device 2001A.

[00117] Figure 4A and Figure 4B show an embodiment of the suture device 2001A. In some embodiments, the fixed jaw 2005 includes a first clamping slot 2103 that can receive the needle 2201 (described in more detail with reference to Figures 7A-7I). In some embodiments, the movable jaw 2006 includes a second clamping slot 2104 that can receive the needle 2201. In some embodiments, the clamping slots are channels dimensioned and shaped to receive the needle. For example, the clamping slots may define a rounded channel or a rounded hole to receive and hold the needle.

[00118] With reference to Figures 3A-4B, in some Petition 870250100843, dated 04 / 11 / 2025, p. 75 / 547 In 67 / 416 modes, the needle transfer mechanism 2004 can transfer the needle between the first clamping slot 2103 and the second clamping slot 2104. To this end, the needle transfer mechanism 2004 can clamp the needle in the first clamping slot 2103 and / or in the second clamping slot 2104 and / or release the needle from the first clamping slot 2103 or the second clamping slot 2104.

[00119] Figures 5A-5D show an embodiment of a mechanism for moving the movable arm 2008 to rotate relative to the fixed arm 2007 and thus causing the movable jaw 2006 to rotate relative to the fixed jaw 2005. As shown in Figures 5A and 5B, the movable arm 2008 may exhibit an arm movement 2105, along which the movable arm 2008 rotates away from or towards the fixed arm 2007. For example, the arm movement 2105 may be caused by the surgeon's manual movement over the handle 2002A to open and close the device 2001A. This control may be advantageous when operating in invisible areas, to ensure that the movement of the device 2001A is under the operator's control. In some embodiments, the arm movement 2105 may be caused by additional potential energy members, such as a spring.

[00120] In some embodiments, the fixed arm 2007 may remain stationary relative to the movable arm 2008 while the movable arm 2008 moves. The movable arm 2008 may Petition 870250100843, dated 04 / 11 / 2025, page 76 / 547 68 / 416 rotate relative to the fixed arm 2007 to rotate the movable jaw 2006 relative to the fixed jaw 2005. The movement of the movable arm 2008 relative to the fixed arm 2007 may allow the movable jaw 2006 to exhibit a jaw movement 2107, along which the movable jaw 2006 may rotate away from or towards the fixed jaw 2005. The fixed jaw 2005 may remain stationary relative to the movable jaw 2006 while the movable jaw 2006 moves. In some embodiments, the movable arm 2008 and the movable jaw 2006 move relative to the fixed arm 2007. In some embodiments, the movable arm 2008 and the movable jaw 2006 move relative to the fixed jaw 2005. In some embodiments, the movable arm 2008 and the movable jaw 2006 move relative to each other. In some modalities, the fixed arm 2007 and the fixed jaw 2005 do not move. In some In some modalities, the fixed jaw 2005 cannot move independently of the fixed arm 2007. In some modalities, the fixed jaw 2005 cannot move. regardless of the 2007 fixed arm, because the 2007 fixed arm is integral to the 2005 fixed jaw.

[00121] The 2005 fixed jaw can facilitate safe work in tight spaces, as the fact that the 2005 fixed jaw remains stationary relative to the target tissue allows sutures to be applied in a safe area. For example, when the operator moves the jaw. Petition 870250100843, dated 04 / 11 / 2025, p. 77 / 547 With the 69 / 416 mobile 2006 in relation to the fixed jaw 2005, the operator will know the location of the fixed jaw 2005. When the target tissue is referenced by the fixed jaw 2005 in a hard-to-see or non-visible operating location, the fixed jaw 2005 allows the suture to pass through the target tissue. The fixed jaw 2005 and the mobile jaw 2006 can be positioned in a constant or predictable position relative to the tissue, so that location and distance do not need to be continuously estimated to center the tissue. Thus, the fixed jaw 2005 allows suturing in areas that are difficult to visualize.

[00122] As shown in Figure 5B, in some embodiments, the movable arm 2008 can rotate relative to the fixed arm 2007 to rotate the movable jaw 2006 relative to the fixed jaw 2005. The movable arm 2008 can rotate the movable jaw 2006 relative to the fixed jaw 2005 until the needle 2201 is received in both the first clamping slot 2103 and the second clamping slot 2104, allowing the needle 2201 to be changed between the first clamping slot 2103 and the second clamping slot 2104.

[00123] With reference to Figures 5A-5D, the needle transfer mechanism 2004 can control the tightening and loosening of both the first tightening slot 2103 and the second tightening slot 2104. The needle transfer mechanism 2004 can receive one or more inputs or commands. Petition 870250100843, dated 04 / 11 / 2025, page 78 / 547 70 / 416 to control the tightening and release of the first clamping slot 2103 and the second clamping slot 2104. For example, in a first state, the needle 2201 may be clamped in the first clamping slot 2103 of the fixed jaw 2005. As shown in Figure 5A, when the movable arm 2008 is moving or open, the needle transfer mechanism 2004 can hold the needle 2201 in the fixed jaw 2005 while maintaining the inactive grip in the movable jaw 2006. As shown in Figure 5B, when the movable arm 2008 is adjacent to the fixed arm 2007, the needle transfer mechanism 2004 can hold the needle 2201 in the fixed jaw 2005 while maintaining the inactive grip in the movable jaw 2006.

[00124] As shown in Figure 5C, the needle transfer mechanism 2004 can clamp the needle 2201 in the second clamping slot 2104 and subsequently release the needle 2201 from the first clamping slot 2103. That is, in Figure 5C, the needle transfer mechanism 2004 can hold the needle 2201 in the movable jaw 2006 while maintaining the inactive clamping in the fixed jaw 2005. As shown in Figure 5D, when the movable jaw 2006 rotates away from the fixed jaw 2005 by the movement of the movable arm 2008, the needle 2201 is clamped in the movable jaw 2006, thus completing the needle transfer between the fixed jaw 2005 and the movable jaw 2006. As Petition 870250100843, dated 04 / 11 / 2025, page 79 / 547 71 / 416 shown in Figure 5D, when the movable arm 2008 is in motion or open, the needle transfer mechanism 2004 can hold the needle 2201 in the movable jaw 2006 while maintaining the inactive grip in the fixed jaw 2005.

[00125] With general reference to Figures 5A-5D, in some embodiments, the needle transfer mechanism 2004 of the suture device 2001A may include a cover 2108 disposed partially over at least parts of the needle transfer mechanism 2004. In some embodiments, as will be discussed in more detail later, the cover 2108 may include one or more buttons to receive user input or commands. In some embodiments, as will be discussed in more detail later, the cover 2108 may include one or more indicators corresponding to the operating state, active (e.g., tightened) or inactive (e.g., untightened), of the needle transfer mechanism 2004 in the movable jaw 2006 and / or the fixed jaw 2005.

[00126] Figures 6A-6C show a mechanism of an embodiment of the suture device 2001A for movement of the movable arm 2008 relative to the fixed arm 2007, allowing the movable jaw 2006 to exhibit jaw movement 2107, whereby the movable jaw 2006 rotates away from or towards the fixed jaw 2005. In some embodiments, the fixed arm 2007 may include an arm joint 2101 for Petition 870250100843, dated 04 / 11 / 2025, p. 80 / 547 72 / 416 couple the fixed arm 2007 to the movable arm 2008. For example, the arm joint 2101 may be a mechanical joint to connect two components and allow them to move relative to each other. In some embodiments, the arm joint 2101 enables movement of the movable arm 2008 relative to the fixed arm 2007. For example, the movable arm 2008 may rotate around the arm joint 2101 and relative to the fixed arm 2007. In some embodiments, the arm joint 2101 may allow the movable arm 2008 to rotate relative to the fixed arm 2007 in one degree of freedom. In some embodiments, the arm joint 2101 may restrict some movement of the movable arm 2008 in order to prevent the movable arm 2008 from breaking or exerting excessive force on the movable jaw 2006, cracking, or any other component described in this document.

[00127] In some embodiments, the fixed arm 2007 includes a jaw joint 2100. In some embodiments, the fixed jaw 2005 includes the jaw joint 2100. The jaw joint 2100 is coupled to the movable jaw 2006 so that the movable jaw 2006 can rotate relative to the fixed jaw 2005. For example, the jaw joint 2100 may be a mechanical joint to connect two components and allow them to move relative to each other. In some embodiments, the movable jaw 2006 can rotate around the jaw joint 2100 and relative to the fixed jaw 2005. Petition 870250100843, dated 04 / 11 / 2025, p. 81 / 547 73 / 416 In some embodiments, the jaw joint 2100 may allow the movable jaw 2006 to rotate relative to the fixed jaw 2005 in one degree of freedom. In some embodiments, the jaw joint 2100 may restrict some movement of the movable jaw 2006 in order to prevent the movable jaw 2006 from breaking or exerting excessive force on the fixed jaw 2005, cracking, or any other component described in this document.

[00128] In some embodiments, the suturing device 2001A further includes a connecting joint 2102 coupled to the movable arm 2008 and the movable jaw 2006. The connecting joint 2102 may be positioned between the jaw joint 2100 and the arm joint 2101, so that the jaw joint 2100 and the arm joint 2101 are uncoupled and mechanically independent of each other. The connecting joint 2102 may allow movement of the movable arm 2008 to rotate the movable jaw 2006. For example, the connecting joint 2102 may be a mechanical joint to connect two components and allow them to move relative to each other. In some embodiments, the movable arm 2008 can physically move the connecting joint 2102 to cause the movable jaw 2006 to rotate around the jaw joint 2100. The movement of the movable arm 2008 can move the connecting joint 2102 to rotate the movable jaw 2006 around the jaw joint 2100. For example, as shown in Petition 870250100843, dated 04 / 11 / 2025, p. 82 / 547 74 / 416 In Figures 6B and 6C, the movement of the movable arm 2008 away from the fixed arm 2007 causes the connecting joint 2102 to move across the width of the fixed arm 2007. The connecting joint 2102 pulls the movable jaw 2006, which causes the movable jaw 2006 to rotate around the jaw joint 2100 and move away from the fixed jaw 2005.

[00129] In some embodiments, the connecting joint 2102 may restrict some movement of the movable jaw 2006 and the movable arm 2008, so as to prevent them from disconnecting or exerting excessive force on the slots or any other component described in this document. For example, the connecting joint 2102 may be restricted to movements along the width of the fixed arm 2007, which would prevent excessive movement of the movable jaw 2006 and the movable arm 2008. In some embodiments, the portion of the fixed arm 2007 between the jaw joint 2100 and the arm joint 2101 may remain in a fixed position while the movable jaw 2006 moves within the pelvic cavity and the movable arm 2008 moves outside the vaginal cavity. Such movements may advantageously reduce the profile of the movable jaw 2006 and the movable arm 2008.

[00130] In some embodiments, the suture device 2001A may consist of three rigid metal parts (for example, (1) fixed arm 2007 formed in one piece with fixed jaw 2005, (2) movable arm 2008 and Petition 870250100843, dated 04 / 11 / 2025, p. 83 / 547 75 / 416 (3) the movable jaw 2006), which are fixed to each other by means of the three joints 2100, 2101 and 2102. In some embodiments, the fixed arm may define at least partially a reference body comprising the jaw joint 2100 and the arm joint 2101. The movable jaw 2006 and the movable arm 2008 may move relative to each other and relative to the fixed arm 2007 and the fixed jaw 2005 in a 2D plane around the reference body. In some embodiments, the movable arm 2008 rotates around the arm joint 2101 and relative to the reference body. In some embodiments, the movable jaw 2006 rotates around the jaw joint 2100 and relative to the reference body.

[00131] For example, during the operation of the suturing device 2001A within the pelvic cavity, in order to perform the suture at the correct location, the fixed arm 2007, whose outer contour can be designed accordingly, can be aligned with the specific area of ​​the pelvic cavity and becomes fixed in relation to that specific area of ​​the pelvic cavity, while the jaw joint 2100, the arm joint 2101 and the connecting joint 2102 allow the operator to move the handle 2002A to move the movable arm 2008 and thus move the movable jaw 2006. By keeping the fixed arm 2007 in position, the jaws 2005 and 2006 can be correctly positioned for suturing.

[00132] Figures 7A-7I, 15A-15C and 17A-17D illustrate Petition 870250100843, dated 04 / 11 / 2025, page 84 / 547 76 / 416 embodiments of needle 2201. Needle 2201A, needle 2201B, needle 2201C, needle 2201D and needle 2201E (referred to generically as needle 2201) may include a first receptacle 2207A and a second receptacle 2207B. Receptacles 2207A and 2207B may be notches, holes, recesses, cutouts, cavities, sockets or other features on the surface of needles 2201A-E that allow needle 2201A-E to be held in the first clamping slot 2103 and / or the second clamping slot 2104, as discussed further below. The position of the first receptacle 2207A and the second receptacle 2207B on the needle 2201 allows the needle 2201 to be held in the first clamping slot 2103 or in the second clamping slot 2104, or in both. For example, the first receptacle 2207A can be held and coupled to the fixed jaw 2005 and the second receptacle 2207B can be held and coupled to the movable jaw 2006.

[00133] As shown in Figure 7A, needle 2201 can be a 2201A needle with a concave shape. Figure 7B, Figure 7C, Figure 7D, and Figure 7E illustrate an embodiment of a 2201B needle with a straight shape. In some embodiments, needle 2201A and needle 2201B may include a hole 2208. In some embodiments, hole 2208 can be used to attach the thread to the needle by piercing needle 2201A or 2201B, inserting a thread (e.g., thread 2301) into hole 2208, and deforming hole 2208 with the aid of a Petition 870250100843, dated 04 / 11 / 2025, page 85 / 547 77 / 416 suitable die geometry coupled to a press. In some embodiments, the needle 2201 and the thread can be fixed using a suitable adhesive instead of deforming the hole 2208.

[00134] Figure 7F, Figure 7G, Figure 7H, and Figure 7I illustrate an embodiment of a 2201C needle that includes a 2209 channel. The 2209 channel may be an open channel feature for attaching the 2201 needle to the 2301 yarn. The 2209 channel may be opened in the 2201C needle, a 2301 yarn may be placed inside the 2209 channel, and the 2209 channel may be deformed over the 2301 yarn with the aid of a suitable die geometry coupled to a press. In some embodiments, the 2201 needle and the 2301 yarn may be fixed using an appropriate adhesive instead of deforming the 2209 channel.

[00135] Figures 15A-15C illustrate an embodiment of a 2201D needle with a concave shape and holes as first receptacle 2207A and second receptacle 2207B. Receptacles 2207A and 2207B may include countersunk features on the front of receptacles 2207A and 2207B. The countersunk features may allow gripping members to hold the 2201D needle more accurately. Figures 17A-17D illustrate an embodiment of a straight 2201E needle with holes as first receptacle 2207A and second receptacle 2207B. Receptacles 2207A-B of the 2201E needle Petition 870250100843, dated 04 / 11 / 2025, page 86 / 547 78 / 416 include countersunk features on the front of receptacles 2207A and 2207B.

[00136] Referring now to one or more of Figures 7J, 7K, 7L, 7M, 7MM, 7N, 7O and 7P, embodiments of the needle transfer mechanism 2004 of the suture device 2001A are illustrated. The needle transfer mechanism 2004 may allow the needle 2201 to be retained or released from the jaws 2005 and 2006 with the aid of muscle threads (e.g., the first muscle thread 2027A and the second muscle thread 2027B). In some embodiments, the muscle threads 2027A and 2027B may be shape memory alloy threads.In some embodiments, the 2027A and 2027B muscle fibers may be made of one or more materials such that the 2027A and 2027B muscle fibers change from a reference length to a transformed length when an electric current passes through them, and such that the 2027A and 2027B muscle fibers return from the transformed length to the reference length when the 2027A and 2027B muscle fibers are disconnected from the flow of electric current (i.e., when the current flow through the muscle fibers is interrupted). In some embodiments, the reference length may be greater than the transformed length. That is, in some embodiments, the 2027A and 2027B muscle fibers shorten when an electric current passes through them. In some embodiments, the... Petition 870250100843, dated 04 / 11 / 2025, page 87 / 547 79 / 416 muscle fibers 2027A and 2027B are made of intelligent Nitinol material.

[00137] In some modalities, the first muscle fiber 2027A and the second muscle fiber 2027B may be positioned in the fixed arm 2007. In some modalities, the first muscle fiber 2027A and the second muscle fiber 2027B extend into respective channels in the fixed arm 2007. For example, the first muscle fiber 2027A may extend into a first channel 2028A, and the second muscle fiber 2027B may extend into a second channel 2028B. The first channel 2028A and the second channel 2028B may be separated by a divider 2030. The divider 2030 may prevent short-circuiting of the first muscle fiber 2027A and / or the second muscle fiber 2027B. In some modalities, the first muscle fiber 2027A extends within a canal through the fixed mandible 2005. In some modalities, the second muscle fiber 2027B extends within a canal through the movable mandible 2006.

[00138] In some embodiments, electrical connectors 2029A and 2029B may be positioned at the proximal ends of the muscle threads 2027A, 2027B (i.e., the ends closest to the loop of the suture device 2001A). A first electrical connector 2029A may be positioned at the proximal end of the first muscle thread 2027A, and a second electrical connector 2029B may be Petition 870250100843, dated 04 / 11 / 2025, page 88 / 547 80 / 416 positioned at the proximal end of the second muscle wire 2027B. Each electrical connector 2029A, 2029B can electrically couple the respective muscle wire 2027A, 2027B in which the electrical connector 2029A, 2029B is positioned to a power source, as described in more detail below. In some embodiments, the electrical connectors 2029A, 2029B can couple the proximal ends of the first muscle wire 2027A and the second muscle wire 2027B to first points of respective conductor wires (passing through a cable 2602 (Figure 6A), for example) coupled to a power source and, therefore, can supply electrical current to the proximal ends of the muscle wires 2027A, 2027B. In some embodiments, the electrical connectors 2029A, 2029B may be positioned in a recess 2031 that includes a first opening 2032A in the first channel 2028A and a second opening 2032B in the second channel 2028B.Electrical connectors 2029A, 2029B and openings 2032A, 2032B can be sized so that electrical connectors 2029A, 2029B cannot pass through the openings and move distally (i.e., towards the jaws) into channels 2028A, 2028B. Therefore, the proximal ends of muscle wires 2027A, 2027B, including electrical connectors 2029A, 2029B, can be held predominantly stationary in recess 2031 when muscle wires 2027A, 2027B are extended to their transformed length (i.e. Petition 870250100843, dated 04 / 11 / 2025, page 89 / 547 81 / 416 is, they shorten from their reference lengths). In other words, electrical connectors 2029A, 2029B can anchor the proximal ends of muscle wires 2027A, 2027B while current passes through muscle wires 2027A, 2027B. Therefore, the transition in the length of muscle wires 2027A, 2027B results in movement at the distal end (e.g., towards the jaws) of muscle wires 2027A, 2027B. In some embodiments, the divider 2030 may extend at least partially through recess 2031 to separate the first electrical connector 2029A from the second electrical connector 2029B.

[00139] In some embodiments, the distal ends of muscle fibers 2027A, 2027B can be coupled to traction wires 2021A and 2021B, respectively. The distal end of the first muscle fiber 2027A can be coupled to a first traction wire 2021A by means of a first ferrule 2026A, or connector, and the distal end of the second muscle fiber 2027B can be coupled to the second traction wire 2021B by means of a second ferrule 2026B. In some embodiments, the first ferrule 2026A and the second ferrule 2026B can be crimped together to couple the distal end of the first muscle fiber 2027A to the first traction wire 2021A and the distal end of the second muscle fiber 2027B to the second traction wire 2021B. In some forms, ferrules 2026A and 2026B can couple the distal ends. Petition 870250100843, dated 04 / 11 / 2025, page 90 / 547 82 / 416 of the first muscle wire 2027A and the second muscle wire 2027B to distal points of respective insulated conductor wires 2033A, 2033B coupled to the power source. The first insulated conductor wire 2033A can pass through a first opening 2032A in the wall that defines the distal end of the recess 2031 and through the first channel 2028A to be coupled to the distal end of the first muscle wire 2027A in the ferrule 2026A to supply electrical current to the distal end of the first muscle wire 2027A. The second insulated conductor wire 2033B can pass through a second opening 2032B in the wall that defines the distal end of the recess 2031 and through the second channel 2028B to be coupled to the distal end of the second muscle wire 2027B in the ferrule 2026B to supply electrical current to the distal end of the second muscle wire 2027B.In some embodiments, a first sealing ring 2025A may be positioned at a distal end of the first channel 2028A, through which the first traction wire 2021A extends, and a second sealing ring 2025B may be positioned at a distal end of the second channel 2028B, through which the second traction wire 2021B extends. The sealing rings 2025A, 2025B may prevent blood or other fluid from entering the channels 2028A, 2028B and coming into contact with the muscle wires 2027A, 2027B. Therefore, the sealing rings 2025A, 2025B may assist in... Petition 870250100843, dated 04 / 11 / 2025, page 91 / 547 83 / 416 short-circuit prevention.

[00140] In some embodiments, the first traction wire 2021A may extend through at least part of the fixed mandible 2005, and the second traction wire 2021B may extend through at least part of the movable mandible 2006. In some embodiments, the distal end of the first traction wire 2021A may be coupled to a first clamping member 2024A positioned on the fixed mandible 2005, and the distal end of the second traction wire 2021B may be coupled to a second clamping member 2024B positioned on the movable mandible 2006. Geometric features, such as feature 2020B, may be used to guide the traction wires, such as the traction wire 2021B in Figure 7M, on an ideal route through the suture device 2001A and the mandible. The traction wires 2021A, 2021B may be non-conductive to provide insulation between the fixed jaw 2005 (and components therein) and the movable jaw 2006 (and components therein) and the muscle wires 2027A, 2027B.Therefore, in certain applications, the non-conductive traction wires 2021A, 2021B can prevent short circuits resulting from contact of blood or tissue with the muscle wires 2027A, 2027B, for example.

[00141] It should be understood that, in some modalities, the muscle fibers 2027A, 2027B may be directly coupled to the gripping limbs 2024A, 2024B. In Petition 870250100843, dated 04 / 11 / 2025, page 92 / 547 84 / 416 In some embodiments, the muscle fibers 2027A, 2027B may be indirectly coupled to the gripping members 2024A, 2024B by means of one or more components (e.g., the traction fibers 2021A, 2021B) between the muscle fibers 2027A, 2027B and the gripping members 2024A, 2024B.

[00142] Needle 2201 can be held and retained in the fixed clamp 2005 by the first clamping member 2024A, and needle 2201 can be held and retained in the movable clamp 2006 by the second clamping member 2024B. More specifically, the first clamping member 2024A can retain the needle 2201 in the fixed clamp 2005 when the first clamping member 2024A is pressed against the first receptacle 2207A or the second receptacle 2207B of the needle 2201, and the second clamping member 2024B can retain the needle 2201 in the movable clamp 2006 when the second clamping member 2024B is pressed against the first receptacle 2207A or the second receptacle 2207B of the needle 2201. The first clamping member 2024A and the second clamping member 2024B can be removablely attached to the needle 2201.The first clamping member 2024A and the second clamping member 2024B may be pins, clips, projections, or any other member sized to be pressed against the first receptacle 2207A and / or the second receptacle 2207B.

[00143] In some embodiments, the 2004 needle transfer mechanism may include a first spring. Petition 870250100843, dated 04 / 11 / 2025, page 93 / 547 85 / 416 2022A and a second spring 2022B. The first spring 2022A may be positioned around and coupled to the first clamping member 2024A in the fixed clamp 2005. The second spring 2022B may be positioned around and coupled to the second clamping member 2024B in the movable clamp 2006. In some embodiments, the springs 2022A and 2022B may be retained in the fixed clamp 2005 and the movable clamp 2006, respectively, by mechanical elements that may include rings, pins, etc., or structural features such as protrusions. For example, the second spring 2022B may be retained in the movable clamp 2006 by the mechanical element 2023B.

[00144] It should be understood that, in some embodiments, springs 2022A, 2022B may be directly coupled to clamping members 2024A, 2024B. In some embodiments, springs 2022A, 2022B may be indirectly coupled to clamping members 2024A, 2024B by means of one or more components between springs 2022A, 2022B and clamping members 2024A, 2024B. In some embodiments, springs 2022A, 2022B do not need to be directly or indirectly coupled to clamping members 2024A, 2024B. Springs 2022A, 2022B (and other potential energy members discussed herein) may be situated such that springs 2022A, 2022B may exert a force on clamping members 2024A, 2024B and / or vice versa. For example, spring 2022A, clamping member 2024A (including a Petition 870250100843, dated 04 / 11 / 2025, page 94 / 547 86 / 416 characteristic 2024AA of the clamping member 2024A) and the mechanical elements 2023 can be dimensioned so that the distal end of the spring 2022A is maintained in contact with at least a part of the clamping member 2024A (such as characteristic 2024AA) or other elements in contact with the clamping member 2024A (for example, elements situated between the spring 2022A and the clamping member 2024A), so that the spring 2022A can apply a distal force on the clamping member 2024A.Similarly, spring 2022A, clamping member 2024A (including feature 2024AA of clamping member 2024A) and mechanical elements 2023 can be dimensioned so that the distal end of spring 2022A is maintained in contact with at least part of clamping member 2024A (such as feature 2024AA) or other elements in contact with clamping member 2024A (for example, elements situated between spring 2022A and clamping member 2024A), so that clamping member 2024A can apply a proximal force on spring 2022A.

[00145] Muscle fibers 2027A, 2027B can transition between their reference lengths and transform independently within their respective channels 2028A, 2028B. In some modalities, the first muscle fiber 2027A may be at, or transition to, its reference length or extended, in which case the first gripping member 2024A is advanced towards the Petition 870250100843, dated 04 / 11 / 2025, page 95 / 547 87 / 416 first clamping slot 2103 and towards the first receptacle 2207A or the second receptacle 2207B of the needle 2201 disposed in the first clamping slot 2103 to secure the needle 2201 in the first clamping slot 2103. In some embodiments, the first muscle thread 2027A may be at, or transition to, its transformed length, which is shorter than the reference length, causing the first clamping member 2024A to retract from the first clamping slot 2103 and the first receptacle 2207A or the second receptacle 2207B to release the needle 2201 from the first clamping slot 2103.

[00146] In some embodiments, the second muscle thread 2027B may be at, or transition to, its reference length or extended, whereby the second gripping member 2024B is advanced toward the second gripping slot 2104 and toward the first receptacle 2207A or the second receptacle 2207B of the needle 2201 disposed in the second gripping slot 2104 to secure the needle 2201 in the second gripping slot 2104. In some embodiments, the second muscle thread 2027B may be at, or transition to, its transformed length, which is shorter than the reference length, causing the second gripping member 2024B to retract from the second gripping slot 2104 and the first receptacle 2207A or the second receptacle 2207B to release the needle 2201 from the second gripping slot. Petition 870250100843, dated 04 / 11 / 2025, page 96 / 547 88 / 416 2104.

[00147] For example, and for illustrative purposes only with regard to the first muscle fiber 2027A, the first muscle fiber 2027A can be shortened (i.e., transition to its transformed length) in the first channel 2028A, causing the distal end of the first muscle fiber 2027A to move proximally in the first channel 2028A. Therefore, the first muscle thread 2027A can exert a force in the proximal direction on the traction thread 2021A and the first gripping member 2024A, causing the first gripping member 2024A to retract from the first gripping slot 2103 and the first receptacle 2207A or the second receptacle 2207B of the needle 2201 to release the needle 2201 from the first gripping slot 2103. In some embodiments, the proximal movement, or retraction, of the first gripping member 2024A causes the first spring 2022A to be fully compressed to a loaded state.Figure 7P shows the first clamping member 2024A retracted from the first clamping slot 2103 and the full compression of the first spring 2022A. As mentioned above, the first muscle wire 2027A can be shortened when an electric current is conducted through the first muscle wire 2027A.

[00148] When the electric current is interrupted in the first muscle fiber 2027A, or ceases to pass through the first muscle fiber 2027A, the first muscle fiber 2027A Petition 870250100843, dated 04 / 11 / 2025, page 97 / 547 89 / 416 transitions to its reference length, causing the distal end of the first muscle wire 2027A to move distally in the first channel 2028A. Once the electrical current is interrupted in the first muscle wire 2027A, eliminating the proximal retraction force on the distal end of the muscle wire 2027A, the traction wire 2021A, and the first clamping member 2024A, the first spring 2022A transitions from its charged state to a semi-compressed state (shown in Figure 7O), providing distal force on the first clamping member 2024A, the traction wire 2021A, and the first muscle wire 2027A. Therefore, the transition to the semi-compressed state of the first spring 2022A causes the first clamping member 2024A to advance toward the first clamping slot 2103.As shown in Figure 7O, when the first muscle fiber 2027A is at its reference length and the first gripping member 2024A is moved distally towards and / or through the first gripping slot 2103, the first spring 2022A can be maintained in a semi-compressed state by mechanical elements (such as the mechanical element 2023B discussed in relation to the second muscle fiber 2027B). In its semi-compressed state, the first spring 2022A can provide and maintain a distal force on the first gripping member 2024A so that the first gripping member 2024A is pressed against the first receptacle 2207A or the second receptacle. Petition 870250100843, dated 04 / 11 / 2025, page 98 / 547 90 / 416 2207B of needle 2201 with sufficient force to hold and retain needle 2201.

[00149] The first clamping member 2024A can be selectively transitioned between the positions shown in Figures 7O and 7P, to hold or release the needle 2201 in the clamp 2005, for example, based on the selective application of electric current to the first muscle fiber 2027A and thus by selective lengthening or shortening of the first muscle fiber 2027A.

[00150] Although the first muscle thread 2027A has been discussed in detail above, it should be understood that the second muscle thread 2027B, along with the second traction thread 2021B and the second clamping member 2024B, can be operated in a similar manner. In some modalities, the first muscle thread 2027A and the second muscle thread 2027B can be operated independently.

[00151] With reference to Figures 8A and 8B, a user interface 2605 for controlling the needle transfer mechanism 2004 is shown. In some embodiments, the user interface 2605 includes a circuit board and microcontroller embedded in the suture device 2001A. In some embodiments, the user interface 2605 may include one or more inputs 2604 for controlling the operation of the needle transfer mechanism 2004 and / or other components of the suture device 2001A. The one or Petition 870250100843, dated 04 / 11 / 2025, page 99 / 547 91 / 416 plus 2604 inputs may include a 2604A input, which may be a button. In some embodiments, the user interface may include more than one button. Although buttons are specifically discussed in this document as one or more inputs, it should be understood that the 2605 user interface inputs may include any user-manipulated elements, including switches, dials, handles, etc. The one or more 2604 inputs may be positioned along a surface of the suture device 2001A for access by a user. The one or more 2604 inputs allow user control of the needle transfer mechanism 2004 and, in particular, control of the first and second muscle threads 2027A, 2027B.One or more 2604 inputs may allow separate energization of the first muscle fiber 2027A and the second muscle fiber 2027B (i.e., the first muscle fiber 2027A may be energized while the second muscle fiber 2027B is de-energized, and vice versa). In some modalities, one or more 2604 inputs may allow dependent energization of the first muscle fiber 2027A and the second muscle fiber 2027B (i.e., energizing one muscle fiber 2027A, 2027B automatically results in the de-energization of the other muscle fiber 2027A, 2027B). In some modalities, one or more 2604 inputs may allow independent energization of the first muscle fiber. Petition 870250100843, dated 04 / 11 / 2025, page 100 / 547 92 / 416 2027A and the second muscle thread 2027B (i.e., energizing one muscle thread 2027A, 2027B does not automatically result in de-energizing the other muscle thread 2027A, 2027B). In some embodiments, one or more inputs 2604 may control a power source, which in some embodiments may be a battery or an adapter, coupled to the user interface 2605 and / or the user interface 2705 (Figure 9A) and supplying power to one or more outputs 2606 of the user interface 2605 and / or one or more outputs 2713 (Figure 9A) of the user interface 2705, as described in more detail below. In some embodiments, the power source may be internal to the suture device 2001A. For example, in some embodiments, the power source may be positioned within the sheath 2108.In some embodiments, the power source may be external to the suturing device and coupled to the user interface 2605 by means of one or more electrical connectors that extend from the suturing device 2001A (through the second loop 2002B, for example) to the power source.

[00152] In some embodiments, the user interface 2605 may include one or more outputs 2606 to indicate information about the operation of the suture device 2001A, such as power status, needle transfer mechanism operation 2004, error conditions (low battery), etc. Outputs 2606 may include a first Petition 870250100843, dated 04 / 11 / 2025, page 101 / 547 93 / 416 indicator 2606A and a second indicator 2606B. The indicators may be LED lights, microphones, buzzers, etc. The first and second indicators 2606A and 2606B may provide visual, auditory and / or tactile outputs, for example, indicating to the user information about the operation of the suture device 2001A and the needle transfer mechanism 2004 (for example, the first indicator 2606A may indicate that the needle is attached to the fixed jaw 2005, and the second indicator 2606B may indicate that the needle is attached to the movable jaw 2006). Although two indicators 2606A and 2606B are represented, it should be understood that the suture device 2001A may include more or fewer indicators or outputs 2606. One or more outputs 2606 may be coupled to a surface of the suture device 2001A for interaction (e.g., visual, auditory, tactile, etc.) with a user.

[00153] The user interface elements 2605 (e.g., inputs 2604 and outputs 2606) can be positioned anywhere along the suture device 2001A. In some embodiments, the user interface elements 2605 can be positioned on the cover 2108. In some embodiments, the user interface elements 2605 can be positioned along the suture device 2001A so that the user interface elements 2605 are visible and / or accessible during use of the suture device 2001A. In some embodiments, the Petition 870250100843, dated 04 / 11 / 2025, page 102 / 547 94 / 416 user interface elements 2605 can be positioned on the suture device 2001A so that the user interface elements 2605 remain outside the patient cavity during the operation.

[00154] Referring now to Figures 8A, 8B, 9A and 9B, the supply of electrical current to the first muscle thread 2027A and the second muscle thread 2027B will be discussed. In some embodiments, the suture device 2001A includes a cable 2602 extending from the suture device 2001A. In some embodiments, the cable 2602 extends from the second loop 2002B attached to the fixed arm 2007. In some embodiments, the cable 2602 extends from a port 2600 on the second loop 2002B. In some embodiments, the cable 2602 includes two separate electrical conductors or conductor wires within the cable, each conductor attached to one of the muscle threads, either the first muscle thread 2027A or the second muscle thread 2027B. In some modalities, several cables may extend from the second loop 2002B, each cable electrically coupled to one of the muscle fibers, either the first muscle fiber 2027A or the second muscle fiber 2027B.In some embodiments, the 2602 cable can be connected to an external unit 2700, which may include a power source. Specifically, in some embodiments, the 2602 cable can be connected to the power source of the external unit 2700 via a socket. Petition 870250100843, dated 04 / 11 / 2025, page 103 / 547 95 / 416 2706 and cable 2708 extending from the external unit 2700 to a port 2710. In some embodiments, the external unit 2700 includes a battery pack and a set of analog and / or digital circuits coupled to the user interface elements 2604, 2606 of the suture device 2001A. The set of analog and / or digital circuits allows the user to manipulate one or more inputs 2604 to control the operation of the suture device 2001A and / or the external unit 2700. That is, in some embodiments, cable 2602 and cable 2708 allow control signals from one or more inputs 2604 of the user interface 2605 of the suture device 2001A to be communicated to the external unit 2700.

[00155] In some embodiments, the external unit 2700 includes a user interface 2705. In some embodiments, the user interface 2705 may include one or more inputs 2711. In some embodiments, the user interface 2705 may include one or more outputs 2713 to indicate the operation of the suture device 2001A and / or the external unit 2700 (e.g., operation of the power supply of the external unit 2700) to the user. In some embodiments, the one or more inputs 2711 of the user interface 2705 may be activated in addition to or in substitution for the one or more inputs 2604 of the user interface 2605. In some embodiments, the one or more inputs Petition 870250100843, dated 04 / 11 / 2025, page 104 / 547 96 / 416 The inputs 2711 of user interface 2705 can be activated to control the same functionalities described in relation to one or more inputs 2604 of user interface 2605 described above. In some embodiments, one or more inputs 2711 of user interface 2705 can be activated to control functionalities different from or separate from those described in relation to one or more inputs 2604 of user interface 2605 above. In some embodiments, one or more outputs 2713 of user interface 2705 can indicate the same indications described in relation to one or more outputs 2606 of user interface 2605 above. In some embodiments, one or more outputs 2713 of the user interface 2705 may indicate different or separate signals about the operation of the suture device 2001A and / or the external unit 2700 from those described in relation to one or more outputs 2606 of the user interface 2605 above.The analog and / or digital circuitry of the external unit 2700 allows the user to manipulate one or more inputs 2711 to control the operation of the suture device 2001A and / or the external unit 2700. That is, in some embodiments, cable 2602 and cable 2708 allow control signals from one or more inputs 2711 of the user interface 2705 of the external unit 2700 to be communicated to the suture device 2001A.

[00156] User interface entries 2711 2705 Petition 870250100843, dated 04 / 11 / 2025, page 105 / 547 97 / 416 can be buttons, switches, dials, knobs, etc. One or more outputs 2713 of user interface 2705 can be LED lights, microphones, audible alerts, etc. One or more inputs 2711 and / or one or more outputs 2713 can be positioned along a surface of the external unit 2700 for user access. In some embodiments, one or more inputs 2711 of user interface 2705 can control a power source, which in some embodiments can be a battery or an adapter, coupled to user interface 2705 and / or user interface 2605 and supplying power to one or more outputs 2606 of user interface 2605 and / or one or more outputs 2713 of user interface 2705, as described in more detail below.In some embodiments, one or more 2711 inputs include a 2711A input, which may be a button or other actuator, to turn on / off the external unit 2700 and / or the electronics and user interface 2605 of the suture device 2001A. In some embodiments, one or more 2711 inputs include a 2711B input, which may be a switch or other actuator, to select an operating mode of the suture device 2001A, as described below. In some embodiments, one or more 2711 inputs include a 2711C input, which may be a display or other actuator, to set a threshold force in the automatic mode of the suture device 2001A, as described below. In some embodiments, the... Petition 870250100843, dated 04 / 11 / 2025, page 106 / 547 98 / 416 one or more outputs 2713 include an indicator 2713A, which can indicate the on or off status of the suture device 2001A and / or the external unit 2700.

[00157] In some embodiments, the system may include only the user interface 2605 of the suture device 2001A to control the suture device 2001A and / or the external unit 2700. In some embodiments, the system may include only the user interface 2705 of the external unit 2700 to control the suture device 2001A and / or the external unit 2700. In some embodiments, the system may include the user interface 2605 of the suture device 2001A and the user interface 2705 of the external unit 2700 to control the operation of the suture device 2001A and / or the external unit 2700.

[00158] The external unit 2700, and particularly the power source of the external unit 2700, can be used to supply electrical current to the first muscle fiber 2027A and / or the second muscle fiber 2027B via cable 2602. In some embodiments, the external unit 2700 supplies electrical current to the first muscle fiber 2027A and / or the second muscle fiber 2027B via insulated conductor wires 2033A, 2033B coupled to the distal ends of the muscle fibers 2027A, 2027B. The supply of electrical current to the muscle fibers 2027A, 2027B controls the shortening or lengthening of the muscle fibers 2027A, Petition 870250100843, dated 04 / 11 / 2025, page 107 / 547 99 / 416 2027B.

[00159] In some embodiments, the suture device 2001A is not coupled to the external unit 2700 for electrical current supply. In such embodiments, the suture device 2001A may include an internal power source (not illustrated). The internal power source may be positioned in the first loop 2002A or the second loop 2002B. In some embodiments, the internal power source eliminates the need for one or more wires or cables extending from the suture device 2001A. The operation and control of the internal power source (via the user interface 2605 of the suture device 2001A, for example) are predominantly the same as those discussed for the external unit 2700. The power source of the external unit 2700 and / or the internal power source may be generically referred to as a power source in this document.

[00160] With reference to Figures 10A-10C, in some embodiments, the suture device 2001A includes a force sensor 2804. The force sensor 2804 may be a force-sensitive resistor, a piezoelectric film, a capacitive sensor, an inductive sensor, a Hall effect sensor, etc., which is configured to measure the contact force of the loops 2002A, 2002B and / or one or more other properties related to the contact force of the loops 2002A, 2002B. In some embodiments, the force sensor 2804 may be placed Petition 870250100843, dated 04 / 11 / 2025, page 108 / 547 100 / 416 on a medial surface 2806 of the first loop 2002A or the second loop 2002B. That is, the force sensor 2804 can be placed on a surface of the first loop 2002A or the second loop 2002B so that the force sensor 2804 is interposed between the first loop 2002A and the second loop 2002B when the first loop 2002A and the second loop 2002B are closed or approximated. In some embodiments, the suture device 2001A may include multiple force sensors positioned on both the first loop 2002A and the second loop 2002B. In some embodiments, the force sensor 2804 may be positioned behind a flexible interface 2802 of the medial surface 2806 of the first loop 2002A and / or the second loop 2002B. The 2804 force sensor can detect contact and closing force between the first handle 2002A and the second handle 2002B when both the first handle 2002A and the second handle 2002B are closed.The force sensor 2804 can be electrically coupled to the power source (e.g., the external unit 2700 or the internal power source discussed above) via one or more control units, for example. In some embodiments, the force sensor 2804 can be coupled to the external unit 2700 via cable 2602. The force sensor 2804 can transmit an electrical signal or electrical feedback to a controller when the force sensor 2804 detects and measures a force (i.e., when the first handle 2002A and the second handle 2002B are closed). In response,... Petition 870250100843, dated 04 / 11 / 2025, page 109 / 547 101 / 416 the controller can control the power source to supply or cut off electrical power to the first muscle wire 2027A and supply or cut off electrical power to the second muscle wire 2027B to transfer the needle between jaws 2005, 2006, as discussed in more detail below.

[00161] In some embodiments, the force sensor 2804, the user interface inputs 2604 2605, the user interface inputs 2711 2705 (e.g., buttons 2604A-C), the user interface outputs 2606 2605, the user interface outputs 2713 2705, and the power source (e.g., internal or within the external unit 2700) may each be coupled to one or more processors or controllers, such as the user interface microprocessor 2605, configured to process information and control the operation of the force sensor 2804, inputs 2604 and 2711, outputs 2606 and 2713, and power source. One or more processors or controllers of the suture system may be configured to execute instructions encoded in at least one non-transient, computer-readable storage medium to perform any of the functions and methods described above or to be described later.

[00162] In some embodiments, the 2001A suture device may be equipped with one or more additional sensors, such as one or more image sensors (e.g., a fiber optic visual sensor or camera, Petition 870250100843, dated 04 / 11 / 2025, p. 110 / 547 102 / 416 including ultraviolet, infrared and / or visible sensors / cameras), one or more temperature sensors and / or one or more electrodes. The one or more additional sensors may be electrically coupled to the external unit 2700, for example. The one or more additional sensors may be used to detect different tissues, such as nerves, veins and arteries near the suture device 2001A. The one or more additional sensors may be coupled to the power source with a designated cable or electrical conductor extending through and / or from the suture device 2001A. In some embodiments, the one or more additional sensors may be electrically coupled to the processor of the suture device 2001A to communicate signals to and from the processor. In some embodiments, the one or more additional sensors may be electrically coupled to their own external processor.In some embodiments, one or more of the inputs 2606, 2711 can be activated to control the operation of one or more additional sensors. In some embodiments, one or more of the outputs 2606, 2713 can be operated to indicate information related to the operation of one or more sensors. For example, the one or more image sensors can be one or more visible, infrared, and ultraviolet sensors and can be used for image enhancement. In some embodiments, the one or more image sensors can be one or more probes. Petition 870250100843, dated 04 / 11 / 2025, page 111 / 547 103 / 416 ultrasound image formation that can be used for additional visualization.

[00163] Although embodiments in which the transfer mechanism 2004 includes the first spring 2022A and the second spring 2022B have been discussed in detail, it should be understood that this is a non-limiting example. In place of springs 2022A, 2022B, the transfer mechanism 2004 may include any desirable potential energy element. Potential energy elements, as used in this document, may refer generically to elements that can store energy based on changes in their shape or position and independently release the energy to return to a low-energy shape or position without the need for external stimulus to move the potential energy element back to a low-energy shape or position. For example, springs 2022A, 2022B may store energy as they are compressed.Once the muscle fibers 2027A, 2027B are de-energized, the springs 2022A, 2022B can automatically transition to a low-energy position (e.g., the semi-compressed position) to advance the gripping members 2024A, 2024B. The transition to the low-energy position occurs due to the energy stored in the spring without the need for additional external stimulus to apply energy to the spring. Potential energy elements that can be used in... Petition 870250100843, dated 04 / 11 / 2025, page 112 / 547 104 / 416 Transfer mechanisms include torsion springs, leaf springs, and elastomers, as examples.

[00164] For example, and with reference to Figure 7MM, another embodiment of the suture device 2001A is shown including elastomers 2019A and 2019B in place of springs 2022A, 2022B. Elastomers 2019A, 2019B may have the same mechanical connections (e.g., to clamping members 2024A, 2024B) as springs 2022A, 2022B described above. Mechanical elements such as 2023B can retain and position elastomers 2019A and 2019B in jaws 2005, 2006. When muscle fibers 2027A, 2027B are energized, the proximal force on elastomers 2019A, 2019B can compress elastomers 2019A, 2019B into a tensioned state. When muscle fibers 2027A, 2027B are de-energized, elastomers 2019A, 2019B can transition to a non-tensioned, or less tensioned, state to advance the gripping members 2024A, 2024B distally.Similar to springs 2022A, 2022B, elastomers 2019A, 2019B can be maintained in a semi-compressed state by mechanical elements in jaws 2005, 2006, so that the elastomers provide a continuous distal force on the gripping members 2024A, 2024B when the muscle fibers 2027A, 2027B are de-energized.

[00165] As another example, with reference to Figure 7N, another embodiment of the 2001A suture device is Petition 870250100843, dated 04 / 11 / 2025, page 113 / 547 Figure 105 / 416 shows leaf springs 2017A and 2017B as replacements for springs 2022A, 2022B. Leaf springs 2017A, 2017B may have the same mechanical connections (e.g., with clamping members 2024A, 2024B) as springs 2022A, 2022B described above. Mechanical elements such as 2023B and retention features 2018AA, 2018AB, 2018BA, and 2018BB can retain and position leaf springs 2017A and 2017B in jaws 2005, 2006. When muscle fibers 2027A, 2027B are energized, the proximal force on leaf springs 2017A, 2017B can cause leaf springs 2017A, 2017B to bend or arch into a tensioned shape. When muscle fibers 2027A, 2027B are de-energized, leaf springs 2017A, 2017B can transition to the untensioned, or less tensioned, state to advance the clamping members 2024A, 2024B distally.Similar to springs 2022A, 2022B, leaf springs 2017A, 2017B can be maintained in a semi-tensioned, or bent, state by mechanical elements in jaws 2005, 2006, so that leaf springs 2017A, 2017B provide a continuous distal force on gripping members 2024A, 2024B when muscle fibers 2027A, 2027B are de-energized.

[00166] To use the 2001A suture device, a user must first load a 2201 needle into the 2001A suture device. To load a 2201 needle into the 2001A suture device, a user can first turn on the device. Petition 870250100843, dated 04 / 11 / 2025, page 114 / 547 106 / 416 of suture 2001A and / or the external unit 2700 by activating one or more of the inputs 2604 and / or the inputs 2711. In some embodiments, the user can activate input 2711A of the user interface 2705 to turn on the elements of the external unit 2700 and the suture device 2001A. When turned on, indicator 2713A can change operation (e.g., light up) to indicate that the system is on.

[00167] Once the system is powered on, a user can select the load / unload mode using one or more of the 2604 and / or 2711 inputs. In some modes, the user can select the load / unload mode by activating input 2711B of the user interface 2705. In load / unload mode, the force sensor 2804 is disengaged, a needle transfer button from one or more of the 2604, 2711 inputs becomes operational when handles 2002A, 2002B are open and no force is applied to the force sensor 2804. A user can open the jaws 2005, 2006 by manipulating handles 2002A, 2002B. The user can load needle 2201 into the fixed jaw 2005 or the movable jaw 2006. For illustrative purposes only, examples where needle 2201 is loaded into the fixed jaw 2005 will be discussed. In some embodiments, needle 2201 can be loaded using a loader 2347 (Figure 8C).In some models, the 2201 needle can be loaded manually. Petition 870250100843, dated 04 / 11 / 2025, p. 115 / 547 107 / 416

[00168] A user can check one or more of outputs 2606 and / or outputs 2713 to determine the energized or de-energized state of muscle wires 2027A, 2027B. In some embodiments, if indicator 2606A is off, the first muscle wire 2027A is energized, such that the first muscle wire 2027A is at its transformed length and the first gripping member 2024A is retracted. In some embodiments, if indicator 2606B is off, the second muscle wire 2027B is energized, such that the second muscle wire 2027B is at its transformed length and the second gripping member 2024B is retracted. Needle 2201 can be positioned in either jaw 2005, 2006 where the respective clamping member 2024A, 2024B is retracted. As an example only, embodiments in which needle 2201 is loaded in the fixed jaw 2005 will be discussed.Once needle 2201 is positioned in the first clamping slot 2103, the user can operate one or more of the inputs 2604, 2711 to hold needle 2201 in the first clamping slot of the fixed jaw 2005 by de-energizing the first muscle wire 2027A. In some embodiments, the user can activate input 2604A of the user interface 2605 to de-energize the first muscle wire 2027A. By doing so, the first muscle wire 2027A begins to elongate to its base length, the proximal force on the first limb. Petition 870250100843, dated 04 / 11 / 2025, page 116 / 547 The clamping mechanism 2024A is removed, and the first spring 2022A transitions to push and hold the first clamping member 2024A through the first clamping slot 2103 and into a receptacle (e.g., receptacles 2207A, 2207B) of the needle 2201 to retain the needle 2201 in the first clamping slot 2103 of the fixed jaw 2005. Indicators 2606A, 2606B will change with the operation of input 2604A. For example, indicator 2606A may change operation (e.g., light up) to indicate that the first muscle wire 2027A is de-energized, while indicator 2606B may remain off to indicate that the second muscle wire 2027B is still energized. Once needle 2201 is loaded and secured, suture device 2001A can then be removed from the loader 2347 (Figure 8C), if used.

[00169] Once needle 2201 is loaded, the suture device 2001A can be used. In some embodiments, the transfer mechanism 2004 of the suture device 2001A can operate in semi-automatic mode. In semi-automatic mode, a user can control the needle transfer with one input (e.g., one or more of the inputs 2604, 2711). In semi-automatic mode, the user can only activate the needle transfer mechanism 2004 when the handles 2002A, 2002B are fully closed. To prevent user error, the force sensor 2804 functions as a switch. Petition 870250100843, dated 04 / 11 / 2025, page 117 / 547 109 / 416 safety, preventing needle transfer and alerting the user when attempting to activate needle transfer while handles 2002A, 2002B are not fully closed.

[00170] To use the suturing device, a user can operate one or more of inputs 2604, 2711 to enter the semi-automatic mode of the transfer mechanism 2004. In some embodiments, the user can activate input 2711B to exit the load / unload mode and enter the semi-automatic mode. Once the semi-automatic mode is initiated, the force sensor 2804 is operational. When a limit force is detected by the force sensors 2804, the processor can determine that the handles 2002A, 2002B are fully closed. If a limit force is not detected by the force sensor 2804, the processor can determine that the handles 2002A, 2002B are not fully closed.

[00171] In some embodiments, in semi-automatic mode, a single input of one or more inputs 2604, 2711 can be used to control the needle transfer between jaws 2005, 2006. In some embodiments, the single input may be input 2604A. Such embodiments may be referred to as single-button semi-automatic mode. To suture tissue in single-button semi-automatic mode, the user can position the target tissue between the open jaws 2005, 2006 and close the loops 2002A, 2002B to close the jaws 2005, 2006, so that the Petition 870250100843, dated 04 / 11 / 2025, page 118 / 547 110 / 416 needle 2201 clamped in fixed jaw 2005 enters the clamping slot 2104 of movable jaw 2006. The user can then activate a single input from one or more inputs 2604, 2711 to transfer the needle 2201 between jaws 2005, 2006. In some embodiments, the single input is input 2604A (which may be called the needle transfer button). In some embodiments, activating the needle transfer button 2604A only results in the transfer of the needle 2201 between jaws 2005, 2006 when the force sensor 2804 measures a force indicating that handles 2002A, 2002B are closed.If the force sensor measures a force, or no force, indicating that handles 2002A, 2002B are not closed, the processor may lock or override the needle transfer button 2604A, so that the user's activation of the needle transfer button 2604A does not result in the needle being transferred between jaws 2005, 2006, and the needle 2201 remains stuck in the jaw 2005, 2006 where it was stuck before the user activated the needle transfer button 2604A. When the force sensor 2804 measures a force indicating that handles 2002A, 2002B are closed and the needle transfer button 2604A is activated, one muscle thread 2027A, 2027B is energized and the other muscle thread 2027A, 2027B is not energized. For example, when needle 2201 is loaded into the fixed jaw 2005, the button is activated. Petition 870250100843, dated 04 / 11 / 2025, page 119 / 547 111 / 416 needle transfer 2604A will cause the second muscle wire 2027B connected to the second clamping member 2024B to be disconnected from the power source. Therefore, the muscle wire 2027B does not apply a proximal force on the second clamping member 2024B, and the second spring 2022B pushes and holds the second clamping member 2024B through the second clamping slot 2104 and into a receptacle (e.g., receptacles 2207A, 2207B) of the needle 2201 to retain the needle 2201 in the second clamping slot 2104 of the movable jaw 2006.Subsequently, the power source supplies an electric current to the first muscle wire 2027A, causing the first muscle wire 2027A to shorten to its transformed length and apply a proximal force on the first gripping member 2024A (via the first traction wire 2021A, for example) to retract the first gripping member 2024A from a needle receptacle 2201 and the first gripping slot 2103, releasing the needle 2201 from the fixed jaw 2005. Therefore, actuation of the needle transfer button 2604A results in the de-energization of the second muscle wire 2027B and the energization of the first muscle wire 2027A, so that the needle 2201 is transferred from the fixed jaw 2005 to the movable jaw 2006.

[00172] The user can then open jaws 2005, 2006, move the suture device 2001A to a new location, and close jaws 2005, 2006 to pass again. Petition 870250100843, dated 04 / 11 / 2025, page 120 / 547 112 / 416 the needle 2201 between the jaws 2005, 2006. That is, once the force sensor 2804 detects that the loops 2002A, 2002B are closed, the activation of the needle transfer button 2604A results in the de-energization of the first muscle thread 2027A and energization of the second muscle thread 2027B, so that the needle 2201 is transferred from the movable jaw 2006 to the fixed jaw 2005.Each time jaws 2005, 2006 are closed and needle transfer button 2604A is activated, the muscle wire associated with jaw 2005, 2006 that, before the activation of needle transfer button 2604A, did not retain needle 2201 (e.g., a first jaw), is de-energized to hold and retain needle 2201 in the first jaw, and the muscle wire associated with jaw 2005, 2006 that, before the activation of needle transfer button 2604A, retained needle 2201 (e.g., a second jaw), is energized to release needle 2201 from the second jaw.

[00173] In some embodiments, in semi-automatic mode, multiple inputs from one or more inputs 2604, 2711 can be used to control needle transfer between jaws 2005, 2006. In some embodiments, two separate inputs 2604 from user interface 2605 can be used to control needle transfer between jaws 2005, 2006. Such embodiments may be referred to as two-button semi-automatic mode. Petition 870250100843, dated 04 / 11 / 2025, page 121 / 547 113 / 416 For example, a first button (e.g., a first needle transfer button) of one or more 2604 inputs can be activated to generate a state in which the first muscle wire 2027A is energized and the second muscle wire 2027B is de-energized, and a second button (e.g., a second needle transfer button) of one or more 2604 inputs can be activated to generate a state in which the first muscle wire 2027A is de-energized and the second muscle wire 2027B is energized.

[00174] To suture tissue in the semi-automatic two-button mode, the user can position the target tissue between the open jaws 2005, 2006 and close the handles 2002A, 2002B to close the jaws 2005, 2006, so that the needle 2201 held in the fixed jaw 2005 enters the clamping slot 2104 of the movable jaw 2006. The user can then activate the first needle transfer button to de-energize the second muscle thread 2027B in connection with the second clamping member 2024B. Therefore, the second muscle thread 2027B does not provide a proximal force on the second gripping member 2024B, and the second spring 2022B pushes and holds the second gripping member 2024B through the second gripping slot 2104 and into a receptacle (e.g., receptacles 2207A, 2207B) of the needle 2201 to retain the needle 2201 in the second gripping slot 2104 of the movable jaw 2006. A single actuation of the first transfer button of Petition 870250100843, dated 04 / 11 / 2025, page 122 / 547 114 / 416 needle subsequently energizes the first muscle fiber 2027A in connection with the first gripping member 2024A, causing the first muscle fiber 2027A to shorten to its transformed length and apply a proximal force on the first gripping member 2024A (by means of the first traction wire 2021A, for example) to retract the first gripping member 2024A from a needle receptacle 2201 and the first gripping slot 2103, releasing the needle 2201 from the fixed jaw 2005. Therefore, actuation of the first needle transfer button transfers the needle 2201 from the fixed jaw 2005 to the movable jaw 2006.

[00175] The user can then open jaws 2005, 2006, move the suture device 2001A to a new location, and close jaws 2005, 2006 to again pass the needle 2201 between jaws 2005, 2006. That is, once the force sensor 2804 detects that handles 2002A, 2002B are closed, the user can then activate the second needle transfer button to de-energize the first muscle thread 2027A associated with the fixed jaw 2005. Therefore, the muscle thread 2027A does not provide a proximal force on the first clamping member 2024A, and the first spring 2022A pushes and holds the first clamping member 2024A through the first clamping slot 2103 and into a receptacle (e.g., receptacles 2207A, 2207B) of the needle 2201 to retain the needle 2201 in the first clamping slot 2103 of the jaw. Petition 870250100843, dated 04 / 11 / 2025, page 123 / 547 115 / 416 fixed 2005. A single actuation of the second needle transfer button subsequently energizes the second muscle wire 2027B associated with the movable jaw 2006, causing the second muscle wire 2027B to shorten to its transformed length and apply a proximal force on the second gripping member 2024B (via the second traction wire 2021B, for example) to retract the second gripping member 2024B from a needle receptacle 2201 and the second gripping slot 2104, releasing the needle 2201 from the movable jaw 2006.

[00176] Each time jaws 2005, 2006 are closed, needle 2201 can be transferred between jaws 2005, 2006 by means of the actuation described above of the first or second needle transfer buttons. Similar to the semi-automatic single-button mode, the processor can block or override any actuation of muscle threads 2027A, 2027B by means of the first needle transfer button and the second needle transfer button until force sensor 2804 detects a force indicating that handles 202A, 202B are closed.

[00177] It should be understood that, in single-button semi-automatic mode and in two-button semi-automatic mode, outputs 2606, 2713 may change during a suture operation to indicate the current state of muscle threads 2027A, 2027B. For example, indicator 2606A may Petition 870250100843, dated 04 / 11 / 2025, page 124 / 547 Indicator 116 / 416 may be off when the first muscle wire 2027A is energized (and needle 2201 is not attached to the fixed jaw 2005), and indicator 2606A may be lit when the first muscle wire 2027A is de-energized (and needle 2201 is attached to the fixed jaw 2005). Similarly, indicator 2606B may be off when the second muscle wire 2027B is energized (and needle 2201 is not attached to the movable jaw 2006), and indicator 2606B may be lit when the second muscle wire 2027B is de-energized (and needle 2201 is attached to the movable jaw 2006).

[00178] Once the needle 2201 is loaded, the suture device 2001A can be used. In some embodiments, the transfer mechanism 2004 of the suture device 2001A can operate in automatic mode. In automatic mode, a user does not need to activate any of the one or more inputs 2604, 2711 to operate the needle transfer mechanism 2004 to pass the needle 2201 between the jaws 2005, 2006. In automatic mode, the processor can automatically initiate the needle transfer based on the forces measured by the force sensor 2804. In some embodiments, the force measured by the force sensor 2804 that initiates the needle transfer is a threshold force indicating that the loops 2002A, 2002B are fully closed. In some embodiments, the force Petition 870250100843, dated 04 / 11 / 2025, page 125 / 547 117 / 416 measured by force sensor 2804 that initiates needle transfer is a limiting force greater than the force indicating that handles 2002A, 2002B are fully closed. In other words, needle transfer can be initiated when the user closes handles 2002A, 2002B and then applies additional force to handles 2002A, 2002B to reach the needle transfer limiting force.

[00179] Once a needle is loaded, as described above, for use with the suturing device, a user can operate one or more inputs 2604, 2711 to enter the automatic mode of the transfer mechanism 2004. In some embodiments, the user can activate input 2711B to exit the load / unload mode and enter automatic mode. Once automatic mode is initiated, the force sensor 2804 is operational. The user can use one or more inputs 2604, 2711 to set a threshold force that must be measured by the force sensors 2804 to initiate needle transfer. In some embodiments, activating 2711C can set the threshold force. The processor can be configured so that automatic needle transfer in automatic mode only operates when the user-defined threshold force is greater than the expected force required to close the loops 2002A, 2002B.

[00180] As noted above, once automatic mode is initiated, a user can transfer the 2201 needle. Petition 870250100843, dated 04 / 11 / 2025, page 126 / 547 118 / 416 between jaws 2005, 2006 without actuating any of the entries 2604, 2711. To suture tissue in semi-automatic mode, the user can position the target tissue between the open jaws 2005, 2006 and close the handles 2002A, 2002B to close the jaws 2005, 2006, so that the needle 2201 held in the fixed jaw 2005 enters the clamping slot 2104 of the movable jaw 2006. In some embodiments, the user must apply additional force to the handles 2002A, 2002B after they are closed to achieve a threshold force that initiates needle transfer. Once the limit force is measured by the force sensor 2804, the processor can begin transferring the needle 2201 between the jaws 2005, 2006. Specifically, the processor can operate the power source so that one muscle fiber is energized and another muscle fiber is not energized.More specifically, the power source can be operated to de-energize the muscle wire 2027A, 2027B associated with the jaw 2005, 2006 that did not retain the needle 2201 before the closure of the jaws 2005, 2006. Therefore, in the present example where the needle 2201 was loaded into the fixed jaw 2005, once the limit force is measured by the force sensor 2804, the second muscle wire 2027B in connection with the second clamping member 2024B is disconnected from the power source. Therefore, the muscle wire 2027B does not apply a proximal force on the second clamping member 2024B, and the second spring 2022B pushes e. Petition 870250100843, dated 04 / 11 / 2025, page 127 / 547 119 / 416 holds the second gripping member 2024B through the second gripping slot 2104 and into a receptacle (e.g., receptacles 2207A, 2207B) of the needle 2201 to retain the needle 2201 in the second gripping slot 2104 of the movable jaw 2006. Subsequently, the power source provides an electrical current to the muscle wire 2027A, 2027B associated with the jaw 2005, 2006 that retained the needle 2201 before the loops 2002A, 2002B are closed. Therefore, in the present example, the first muscle fiber 2027A is energized, causing the first muscle fiber 2027A to shorten to its transformed length and apply a proximal force on the first gripping member 2024A (through the first traction wire 2021A, for example) to retract the first gripping member 2024A from a needle receptacle 2201 and the first gripping slot 2103, releasing the needle 2201 from the fixed jaw 2005.Therefore, applying the limit force to loops 2002A, 2002B results in the de-energization of the second muscle fiber 2027B and the energization of the first muscle fiber 2027A, so that the needle 2201 is transferred from the fixed jaw 2005 to the movable jaw 2006.

[00181] The user can then open jaws 2005, 2006, move the suture device 2001A to a new location, and close jaws 2005, 2006 to again pass the needle 2201 between jaws 2005, 2006. That is, once the force sensor 2804 measures the limit force again, Petition 870250100843, dated 04 / 11 / 2025, page 128 / 547 120 / 416 The processor operates the needle transfer mechanism 2004 and the power source to de-energize the first muscle thread 2027A and energize the second muscle thread 2027B, so that the needle 2201 is transferred from the movable jaw 2006 to the fixed jaw 2005. Each time the jaws 2005, 2006 are closed (and therefore the handles 2002A, 2002B are closed) and the force sensor 2804 measures the limit force, the muscle thread associated with jaw 2005, 2006 that, before the closing of the handles, did not retain the needle 2201 (e.g., a first jaw), is de-energized to hold and retain the needle 2201 in the first jaw, and the muscle thread associated with jaw 2005, 2006 that, before the closing of the handles, retained the needle 2201 (for example, a second jaw) is energized to release needle 2201 from the second jaw.

[00182] It should be understood that, in automatic mode, outputs 2606, 2713 may change during a suturing operation to indicate the current state of muscle threads 2027A, 2027B. For example, indicator 2606A may be off when the first muscle thread 2027A is energized (and needle 2201 is not attached to the fixed jaw 2005), and indicator 2606A may be on when the first muscle thread 2027A is de-energized (and needle 2201 is attached to the fixed jaw 2005). Similarly, indicator 2606B may be off when the second muscle thread 2027B Petition 870250100843, dated 04 / 11 / 2025, page 129 / 547 121 / 416 is energized (and needle 2201 is not attached to movable jaw 2006), and indicator 2606B may be lit when the second muscle wire 2027B is de-energized (and needle 2201 is attached to movable jaw 2006). After each transfer of needle 2201 between jaws 2005, 2006, one or more of outputs 2606, 2713 may indicate successful completion of the needle transfer. For example, one or more of outputs 2606, 2713 may generate an audible or visual signal to indicate successful completion of the needle transfer.

[00183] In automatic mode, one-handed operation of the suturing system is enabled. Specifically, the user can control the relative movement of the arms and jaws of the 2001A suturing device and the needle transfer with one hand by holding the handles 2002A, 2002B and applying the necessary limiting force to initiate the needle transfer.

[00184] After completing the suture using any of the above modes (automatic, single-button semi-automatic, or two-button semi-automatic), the user can unload the needle 2201 from the suture device 2001A. To do this, the user can activate one or more of the commands 2604, 2711 to enter the load-unload mode. In some modes, the user can activate command 2711B to exit the needle transfer mode (by Petition 870250100843, dated 04 / 11 / 2025, page 130 / 547 122 / 416 example, one of the automatic, single-button semi-automatic, or two-button semi-automatic modes) and enter the load-discharge mode. In load-discharge mode, the force sensor 2804 is deactivated, allowing the muscle thread activation button 2604 (needle transfer) to be activated when the handles 2002A, 2002B are open. With the jaws 2005, 2006 open, the user can operate one or more of the commands 2604, 2711 to release the needle 2201 from the jaw 2005, 2006 in which the needle 2201 is retained. In some modes, the user can activate command 2604A to release the needle 2201 from the jaw 2005, 2006 in which the needle 2201 is retained. In some modes, the user can activate command 2604A of user interface 2605 to de-energize muscle wire 2027A, 2027B associated with jaw 2005, 2006 in which needle 2201 was retained, in order to release needle 2201 from jaw 2005, 2006.The user can then manually unload the needle 2201 from the suture device 2001A. In some embodiments, using the loader 2347 (Figure 8C), the suture device 2001A can be placed in the loader 2347 with the jaws 2005, 2006 open, and then the user can activate the needle transfer mechanism 2004 as described above to release and unload the needle 2201.

[00185] After the needle is discharged, a user can turn off the 2001A suture device and / or the unit. Petition 870250100843, dated 04 / 11 / 2025, page 131 / 547 123 / 416 external 2700 by activating one or more of the commands 2604, 2711. In some modes, the user can activate input 2711A of the user interface 2705 to switch off the elements of the external unit 2700 and the suturing device 2001A. When switched off, indicator 2713A can change its operation (e.g., a light goes out) to indicate that the system is switched off. It should be understood that during needle transfer and the suturing operations described above (e.g., automatic mode, single-button semi-automatic mode, two-button semi-automatic mode), the system is switched on.

[00186] During the use of the 2001A suture device, one or more indicators 2606, 2713 can provide information about the operating status of the 2001A suture device to the user. For example, in some embodiments, the processor can control one or more of the indicators to indicate in which mode (e.g., load-unload, single-button semi-automatic, two-button semi-automatic, automatic) the suture device is operating. In some embodiments, the processor can control one or more of the indicators, such as indicator 2713A, to indicate whether the system is on or off. In some embodiments, the processor can control one or more of the indicators, such as indicators 2606A and 2606B, to indicate the power state (e.g., powered on or off). Petition 870250100843, dated 04 / 11 / 2025, page 132 / 547 124 / 416 de-energized) of the first muscle thread 2027A and / or the second muscle thread 2027B. In some modes, the processor may control one or more of the indicators to indicate the user-defined force limit for the force sensor to initiate automatic needle transfer. In some modes, the processor may control one or more of the indicators to indicate whether the force measured by the force sensor is above or below a defined limit. In some modes, the processor may control one or more of the indicators to indicate error and warning conditions, such as low battery, force limit not reached, etc.

[00187] Figure 11A and Figure 11B illustrate an embodiment of the suture device 2001A with fixation member 2106A and fixation member 2106B. In some embodiments, fixation member 2106A or 2106B already has the needle 2201 pre-loaded. As shown in Figure 11A, fixation member 2106A can be configured to be coupled to the movable jaw 2006, which is configured to receive fixation member 2106A. As shown in Figure 11B, fixation member 2106B can be configured to be coupled to the fixed jaw 2005, which is configured to receive fixation member 2106B. For example, instead of having to load the needle 2201 into the second clamping slot 2104, the fixation member 2106A with the needle 2201 can be attached to the movable jaw 2006 of the suture device. Petition 870250100843, dated 04 / 11 / 2025, page 133 / 547 125 / 416 2001A. In another example, instead of having to load the needle 2201 into the first clamping slot 2103, the fixation member 2106B with the needle 2201 can be attached to the fixed jaw 2005 of the suture device 2001A. In some embodiments, at the end of a suture operation, the fixation member 2106A or the fixation member 2106B can be removed with the needle 2201, and another fixation member 2106A or the fixation member 2106B with a replacement needle 2201 can be attached to the fixed jaw 2005 or the movable jaw 2006. In some embodiments, the operator can use the same needle 2201 to suture more than one suture point. For example, if the procedure requires it, the operator can also perform suture after suture (sequential) with the same 2201 needle, which is called a Z-suturing or figure-of-eight suturing.

[00188] Figure 12A and Figure 12B illustrate suture device formats (e.g., suture device 2001A or suture device 2001B (Figures 13A and 13B)). Suture devices can have various sizes, shapes, and angles that are optimized based on the anatomy for which the suture devices are to be used. Suture devices can have sizes and angles optimized for safe repair of pelvic floor disorders, due to positional precision and in a minimally invasive manner. Petition 870250100843, dated 04 / 11 / 2025, p. 134 / 547 126 / 416 suture devices can have sizes and angles optimized for minimally invasive use in deep, narrow, and invisible surgical sites.

[00189] The size and angles of the devices can be selected according to the target tissue that each device is designed to reach in order to perform the suture and according to the path that each device needs to travel to reach the target tissue. For example, the path may contain obstacles such as hard and bony tissues or soft tissues. The dimensions and angles can ensure that the surgical methods of using the suture devices can maneuver the suture devices through the path so that the devices are delivered to the target tissue in the least invasive way possible. For example, the path region may be in the pelvic cavity, which can be very similar from patient to patient, with minimal standard deviation. Thus, the calculation can be accurate in different patients, even if they have different body parameters (e.g., height, weight, etc.).The sizes and angles can be selected according to the target tissue so that, once the device is delivered to the target tissue, the outer contour of the fixed jaw 5 can be used for positional accuracy.

[00190] Any of the suturing devices described in this document may have such a length Petition 870250100843, dated 04 / 11 / 2025, p. 135 / 547 127 / 416 that, during the operation of the suture device, the loop, for example loops 2002A and 2002B and loop 2306, can be positioned outside the cavity while the length defines a part of the suture device that can be positioned inside the cavity. For example, suture devices may have lengths and angles suitable for transvaginal approaches or procedures. For example, as shown in Figure 12A, the fixed jaw 2005 can extend relative to the fixed arm 2007 at an angle of 255° ranging from 0 to 165 degrees. In some embodiments, the fixed jaw 2005 can extend relative to the fixed arm 2007 at an angle of approximately 60 to 90 degrees. In some embodiments, the fixed jaw 2005 can extend relative to the fixed arm 2007 at an angle of approximately 77 degrees. In some configurations, the fixed jaw 2005 can extend relative to the fixed arm 2007 at an angle of 77.2 degrees.A length 2205A can be measured from the tip of the fixed jaw 2005 and the fixed arm 2007. As shown in Figure 12B, the fixed arm 2007 may have a distal portion that extends relative to a proximal portion at an angle 2551A ranging from 0 to 90 degrees. In some embodiments, the fixed arm 2007 may have a distal portion that extends relative to a proximal portion at an angle 2551A of approximately 10 to 20 degrees. In some embodiments, the fixed arm 2007 may have a portion... Petition 870250100843, dated 04 / 11 / 2025, p. 136 / 547 128 / 416 distal extending relative to a proximal portion at an angle of approximately 16 degrees. In some embodiments, the fixed arm 2007 may have a distal portion that extends relative to a proximal portion at an angle of 15.88 degrees. The fixed mandible 2005 may extend relative to the fixed arm 2007 at an angle ranging from 90 to 180 degrees. In some embodiments, the fixed mandible 2005 may extend relative to the fixed arm 2007 at an angle ranging from approximately 120 to 140 degrees. In some embodiments, the fixed mandible 2005 may extend relative to the fixed arm 2007 at an angle of 130 degrees. As shown in Figure 12B, in some embodiments, the fixed arm 2007 may have a plurality of corners 2553 and 2554. It should be understood that any of the sharp corners or edges of the devices described herein may instead have a smooth curvature. The fixed jaw 2005 and the fixed arm 2007 may have a length of 2205B.It is envisioned that suture devices can be modified in their dimensions, shapes, and angles, in order to optimize the suture device for specific cavities and operations.

[00191] Figure 13A and Figure 13B show an embodiment of the suture device 2001B. The suture device 2001B may be similar to the suture device 2001A, and may be operated similarly to the suture device 2001A described above, but differs in that Petition 870250100843, dated 04 / 11 / 2025, page 137 / 547 129 / 416 Its components have different angles, sizes, and shapes to optimize the suture device 2001B for the anatomy in which the suture device 2001B will be used. It should be understood that the suture device 2001B differs from the suture device 2001A only in its size and angles, and that any of the embodiments described above or subsequently (including variations of the needle transfer mechanism, jaw movement, and / or handle design) may be employed in the suture device 2001B. In some embodiments, the suture device 2001B may use the fixation member 2106A or the fixation member 2106B, as described with reference to Figure 11A and Figure 11B. For example, the fixation member 2106A may be configured to be fixed to the movable jaw 2006 which is configured to receive the fixation member 2106A.In another example, the 2106B fixation member can be configured to be attached to the 2005 fixed mandible, which is configured to receive the 2106B fixation member.

[00192] With reference to Figures 16A-16D, another suturing device 2001C is shown. The suturing device 2001C includes a handle 2306 and a body 2302 that extends distally from the handle 2306. The handle 2306 may be ergonomically designed for one-handed operation by the user. In some embodiments, the handle 2306 includes one or more entry points. The entry points may be buttons, buttons Petition 870250100843, dated 04 / 11 / 2025, page 138 / 547 130 / 416 rotary knobs, switches, dials, etc. In some embodiments, handle 2306 includes input 2303. Input 2303 can be used to enter a load / discharge mode, in which needle 2201 is released or held in both clamping slots of both jaws 2005A, 2006A. Input 2303 may be a button. In some embodiments, handle 2306 includes input 2304. Input 2304 can be used to actuate a linear movement of the movable jaw 2006A, as discussed further below. Input 2304 may be a button. In some embodiments, handle 2306 includes input 2307. Input 2307 can be used to select a jaw 2005A, 2006A that will hold or release needle 2201. Input 2307 may be a rotary switch. In some embodiments, handle 2306 includes one or more outputs. The outputs can generally indicate to the user in which jaw 2005A, 2006A needle 2201 is currently being held.In some embodiments, handle 2306 includes an output 2308A. Output 2308A can indicate the status of the fixed jaw 2005A. In particular, output 2308A can indicate when the clamping mechanism on the fixed jaw 2005A is active, and that needle 2201 is therefore held in the fixed jaw 2005A. In some embodiments, output 2308A can be an LED. In some embodiments, handle 2306 includes an output 2308B. Output 2308B can indicate the status of the movable jaw 2006A. In particular, output 2308B can... Petition 870250100843, dated 04 / 11 / 2025, p. 139 / 547 131 / 416 indicates when the clamping mechanism on the movable jaw 2006A is active, and that the needle 2201 is therefore held in the movable jaw 2006A. In some embodiments, output 2308B may be an LED. In some embodiments, the handle 2306 includes a protrusion 2309 on an upper surface of the handle 2306. The protrusion 2309 may provide a tactile clamping reference for the user, indicating where to position the thumb during use of the suture device 2001C. In some embodiments, a cable 2305 extends from a proximal end of the handle 2306. The cable 2305 may extend from the handle 2306 in a similar manner, and function similarly to cable 2602 (Figure 8A) discussed above with respect to the suture device 2001A.In some embodiments, cable 2305 is electrically connected to an external unit similar to external unit 2700 (Figure 9A), which contains some or all of the functionalities of external unit 2700 discussed with respect to suture device 2001A. In some embodiments, a fiber optic cable 2310 extends from a proximal end of loop 2306. In some embodiments, the fiber optic cable 2310 is optically connected to the same external unit or to a different external unit than that of cable 2305.

[00193] In some forms, the 2302 body may be rigid. In some forms, the 2302 body may be foldable from a plurality of points. In some Petition 870250100843, dated 04 / 11 / 2025, p. 140 / 547 In 132 / 416 modalities, the 2302 body can be flexible into a plurality of positions and maintain a defined shape from a first position until it is bent or flexed into a second position. The 2302 body can be configured for entry into a patient cavity. The 2302 body is generally an elongated and slender limb that provides greater maneuverability in the patient and can be inserted into the patient in a minimally invasive manner. The 2306 handle is generally configured to remain outside the patient cavity during the operation, to be held by the user and allow interaction through the inputs and outputs of the 2306 handle. Figure 16D shows the general ergonomics of the 2306 handle to facilitate gripping by the user.

[00194] With reference to Figures 18A-18D, the fixed mandible 2005A and the mobile mandible 2006A are shown in more detail. The fixed mandible 2005A and the mobile mandible 2006A may include clamping slots such as clamping slots 2103, 2104 (Figures 4A and 4B) discussed with reference to the suture device 2001A. In some embodiments, the fixed mandible 2005A is coupled to a fixed mandible body 2345. The fixed mandible body 2345 may generally be L-shaped. The fixed mandible 2005A may be positioned at the distal end of the fixed mandible body 2345. In some embodiments, the fixed mandible 2005A is formed in one piece with the fixed mandible body 2345. The body of Petition 870250100843, dated 04 / 11 / 2025, p. 141 / 547 133 / 416 fixed mandible 2345 is coupled to a distal end of body 2302. In particular, the proximal end of the fixed mandible body 2345 can be positioned at the distal end of body 2302. In some embodiments, the fixed mandible body 2345 is formed as a single piece with body 2302.

[00195] In some embodiments, the fixed jaw body 2345 may include a linear guide 2337. In some embodiments, the linear guide 2337 may be positioned substantially perpendicular to the fixed jaw 2005A. The linear guide 2337 provides a path for the linear movement of the movable jaw 2006A relative to the fixed jaw 2005A. In some embodiments, the movable jaw 2006A is substantially parallel to the fixed jaw 2005A, and the jaws 2006A and 2005A do not rotate relative to each other during the movement of the movable jaw 2006A. In some embodiments, the movable jaw 2006A may move within the linear guide 2337 in a direction substantially perpendicular to the fixed jaw 2005A. Figures 18A-18D show in general the movement of the movable jaw 2006A in the linear guide 2337 relative to the fixed jaw 2005A, and the transfer of the needle 2201E between the jaws 2005A and 2006A.

[00196] With reference to Figure 19A, partially exploded views of the fixed jaw body 2345, fixed jaw 2005A and movable jaw 2006A are shown. In Petition 870250100843, dated 04 / 11 / 2025, p. 142 / 547 In some embodiments, an actuator 2312A is positioned within the fixed jaw 2005A. In some embodiments, the actuator 2312A may extend partially through the fixed jaw body 2345. The actuator 2312A is generally configured to actuate the clamping member 2316A of the fixed jaw 2005A. In some embodiments, the fixed jaw body 2345 includes a removable cover 2313 for inserting the actuator 2312A into the fixed jaw 2005A. In some embodiments, an actuator 2312B is positioned within the movable jaw 2006A. In some embodiments, the actuator 2312B may extend partially through the fixed jaw body 2345. The actuator 2312B is generally configured to actuate the clamping member 2316B of the movable jaw 2006A. In some embodiments, the movable mandible 2006A includes a protrusion 2338. The protrusion 2338 is positioned at a proximal end of the movable mandible 2006A.The protrusion 2338 is generally dimensioned and shaped to be received in the linear guide 2337, so that the protrusion 2338 couples the movable jaw 2006A to the fixed jaw body 2345 and can slide within the linear guide 2337. The actuators 2312A, 2312B may include muscle thread and elastomer elements, as described in more detail below. The needle transfer mechanism 2380 of the suture device 2001C includes the actuators 2312A and 2312B. The needle actuators 2312A and 2312B may each be referred to independently. Petition 870250100843, dated 04 / 11 / 2025, page 143 / 547 135 / 416 as a needle transfer mechanism.

[00197] With reference now to Figures 19B, 20A and 20B, actuators 2312A and 2312B will be discussed in more detail. Figure 19B shows an exploded view of actuator 2312A. Figure 20A shows a transparent view of the fixed jaw body 2345, fixed jaw 2005A and movable jaw 2006A. Figure 20B shows a cross-sectional view of the fixed jaw body 2345, jaws 2005A, 2006A, and actuators 2312A, 2312B. With reference to actuator 2312A associated with fixed jaw 2005A, actuator 2312A includes a muscle wire 2320A. The 2320A muscle wire may resemble the 2027A and 2027B muscle wires discussed above in design and function. In some embodiments, the proximal end of the 2320A muscle wire is crimped onto the distal end of an insulated 2314A wire with a 2324A ferrule. The insulated 2314A wire may prevent short circuits.In some embodiments, the insulated wire 2314A may extend through the fixed jaw body 2345 and through a main wire 2333, which extends proximally through the body 2302. The insulated wire 2314A generally supplies electrical current to the muscle wire 2320A. In particular, the insulated wire 2314A may provide an electrical connection at the proximal end of the muscle wire 2320A. In some embodiments, an insulating sheath 2323A is placed externally to the ferrule 2324A. The insulating sheath 2323A may... Petition 870250100843, dated 04 / 11 / 2025, page 144 / 547 136 / 416 be made of any suitable insulating material and can prevent short circuits. In some embodiments, the actuator 2312A includes an insulated wire 2314B. In some embodiments, the distal end of the muscle wire 2320A is crimped onto the distal end of the insulated wire 2314B. The insulated wire 2314B may be insulated to prevent short circuits. In some embodiments, the insulated wire 2314B may extend through the fixed jaw body 2345 and through a main wire 2333, which extends proximally through the body 2302. The insulated wire 2314B generally supplies electrical current to the muscle wire 2320A. In particular, the insulated wire 2314B may provide an electrical connection at the distal end of the muscle wire 2320A. In some embodiments, the proximal end of the gripping member 2316A is pressed with the distal end of the muscle wire 2320A and the distal end of the insulated wire 2314B to create a mechanical connection between them.In some embodiments, an insulating sheath 2322A is placed at the proximal end of the gripping member 2316A to isolate the gripping member 2316A from the muscle wire 2320A and its distal electrical connection with the insulated wire 2314B.

[00198] In some embodiments, the actuator 2312A may include an elastomeric member 2318A positioned around the proximal end of the clamping member 2316A and coupled to the clamping member 2316A. The elastomeric member 2318A may be any natural or synthetic polymer with properties Petition 870250100843, dated 04 / 11 / 2025, page 145 / 547 137 / 416 elastic. When the muscle fiber 2320A is at its base length or extended, as shown in Figure 18B, the elastomeric member 2318A can be held in a semi-compressed state by one or more mechanical elements (e.g., 2317A, 2319A) of the actuator 2312A or the fixed jaw 2005A. When the muscle fiber 2320A is energized, the muscle fiber 2320A transitions to its shortened or transformed length, applying a proximal force on the gripping member 2316A to retract the gripping member 2316A from the gripping slot of the fixed jaw 2005A. The gripping member 2316A can also be retracted from a receptacle of a needle positioned in the gripping slot of the fixed jaw 2005A. As the clamping member 2316A is retracted from the clamping slot of the fixed jaw 2005A, the elastomeric member 2318A can be fully compressed.In some embodiments, the actuator 2312A includes a washer 2317A positioned around the clamping member 2316A and at a distal end of the elastomeric member 2318A. The washer 2317A can move along with the clamping member 2316A and, as the clamping member 2316A is retracted, the washer 2317A can also be moved proximally to assist in the full compression of the elastomeric member 2318A.

[00199] In some embodiments, the actuator 2312A includes a bushing 2319A. The clamping member 2316A, the insulating sheath 2322A, the muscle wire 2320A, the insulated wire 2314B, Petition 870250100843, dated 04 / 11 / 2025, p. 146 / 547 138 / 416 the insulating sheath 2323A and / or the ferrule 2324A may be at least partially positioned in and / or at least partially moved through the annular recess of the bushing 2319A. The bushing 2319A may be aligned and positioned proximally to the elastomeric member 2318A to support the elastomeric member 2318A and provide a surface against which the elastomeric member 2318A may be fully compressed.

[00200] When the muscle fiber 2320A is de-energized, the muscle fiber 2320A can begin to transition to its base or extended length, thus eliminating the proximal retraction force applied to the gripping member 2316A and the elastomeric member 2318A. The removal of the proximal retraction force allows the elastomeric member 2318A to transition from its fully compressed state to its semi-compressed state to move the gripping member 2316A distally, so as to extend into the gripping slot of the fixed jaw 2005A and into a receptacle of a needle positioned in the gripping slot of the fixed jaw 2005A.

[00201] As with the other potential energy members discussed above, the elastomeric members 2318A, 2318B need not be directly or indirectly coupled to the clamping member 2316A, 2316B. The elastomeric members 2318A, 2318B may be situated in another way, so that the elastomeric members 2318A, 2318B may exert a force on the clamping members 2316A, 2316B and / or vice versa. Petition 870250100843, dated 04 / 11 / 2025, page 147 / 547 139 / 416 versa. For example, elastomer 2318A, clamping member 2316A and mechanical elements 2317A, 2319A can each be dimensioned so that the distal end of elastomeric member 2318A is maintained in contact with at least part of clamping member 2316A or other elements in contact with clamping member 2316A (for example, elements situated between elastomeric member 2318A and clamping member 2316A, such as washer 2317A), so that elastomeric member 2318A can apply a distal force on clamping member 2316A.Similarly, the elastomeric member 2318A, the clamping member 2316A, and the mechanical elements 2317A, 2319A can each be dimensioned so that the distal end of the elastomeric member 2318A is maintained in contact with at least part of the clamping member 2316A or other elements in contact with the clamping member 2316A (for example, elements situated between the elastomeric member 2318A and the clamping member 2316A), so that the clamping member 2316A can apply a proximal force on the elastomeric member 2318A.

[00202] Although only actuator 2312A has been discussed in detail above, it should be understood that the same description may apply to actuator 2312B. For example, actuator 2312B may include a clamping member 2316B, a washer 2317B, an elastomeric member 2318B, an insulating sheath 2322B, a bushing 2319B, a muscle wire 2320B, a Petition 870250100843, dated 04 / 11 / 2025, page 148 / 547 140 / 416 insulating sheath 2323B and a ferrule 2324B arranged and operating in a manner similar to the elements of the same number and name in relation to the actuator 2312A. The actuator 2312B may further include an insulated wire 2315A similar to the insulated wire 2314A described above. That is, the proximal end of the muscle wire 2320B may be pressed to the distal end of the insulated wire 2315A with the ferrule 2324B, and the insulated wire 2315A may extend through the fixed jaw body 2345 and through the main wire 2333, which extends proximally through the body 2302. The insulated wire 2315A generally supplies electrical current to the proximal end of the muscle wire 2320B. The actuator 2312B may additionally include an insulated wire 2315B similar to the insulated wire 2314B discussed above. In other words, the distal end of the insulated wire 2315B can be crimped to the distal end of the muscle wire 2320B to provide an electrical connection at the distal end of the muscle wire 2320B.The insulated wire 2315B can extend through the fixed jaw body 2345 and through a main wire 2333, which extends proximally through the body 2302. The standard state of the muscle wires 2320A, 2320B can be de-energized, so that the muscle wires 2320A, 2320B are at their base length, extended, by default. Therefore, in the standard state, the gripping members 2316A, 2316B are positioned distally by the elastomeric members 2318A, 2318B and... Petition 870250100843, dated 04 / 11 / 2025, page 149 / 547 141 / 416 extend into the clamping slots of jaws 2005A, 2006A and into receptacles for a needle, if a needle is positioned in the clamping slots of jaws 2005A, 2006A.

[00203] With reference now to Figures 20B, 20C, 20D, 20E and 20F, the suture device 2001C includes a drive mechanism 2350 for moving the movable mandible 2006A relative to the fixed mandible 2005A in the linear guide 2337. The drive mechanism 2350 may include a muscle wire 2327 and a traction wire 2325. The muscle wire 2327 may function similarly to the muscle wires described above, shortening in length when an electric current is applied to the muscle wire 2327 and extending in length when the muscle wire 2327 is disconnected from the electric current. Muscle thread 2327 and traction thread 2325 can be pressed together by a ferrule 2326. In some embodiments, an insulating sheath 2339 is inserted over the ferrule 2326. In some embodiments, the ferrule 2326 is inserted into and coupled to the movable mandible 2006A. Particularly, in some embodiments, the ferrule 2326 is inserted into and coupled to the protrusion 2338 of the movable mandible 2006A.Through coupling, the movable jaw 2006A can move together with the ferrule 2326. In some embodiments, the muscle thread 2327 extends proximally through the body of the fixed jaw 2345 and the body 2302. The muscle thread 2327 can connect to a power source. Petition 870250100843, dated 04 / 11 / 2025, p. 150 / 547 142 / 416 to provide current to the muscle wire 2327. In some embodiments, the traction wire 2325 extends proximally through the body of the fixed jaw 2345 and the body 2302. In some embodiments, the traction wire 2325 extends to the loop 2306, wherein the proximal end of the traction wire 2325 may be coupled to a distal end of an elastomeric member 2335. The proximal end of the elastomeric member 2335 may be coupled to an inner portion 2336 of the loop 2306. In some embodiments, the drive mechanism 2350 may include one or more mechanical elements, such as a mechanical element 2328, a mechanical element 2329, and / or a mechanical element 2330. The mechanical elements may provide guides for the muscle wire 2327 and the traction wire 2325. In some embodiments, the Mechanical element 2328, muscle fiber 2327 and traction fiber 2325 form a pulley system.The application of force on the pulley system, such as by energizing the muscle fiber 2327 or by transitioning (e.g., extension or compression) the elastomeric member 2335, moves the ferrule 2326 proximally or distally. The movement of the ferrule 2326 proximally or distally, in turn, moves the movable jaw 2006A in the linear guide 2337 distally (towards the fixed jaw 2005A) to close the jaws 2005A, 2006A or proximally (away from the fixed jaw 2005A) to open the jaws 2005A, 2006A due to the permanent coupling between the ferrule 2326 and the protrusion. Petition 870250100843, dated 04 / 11 / 2025, page 151 / 547 143 / 416 2338 of the movable jaw 2006A.

[00204] The standard position of the movable jaw 2006A is a fully open position due to the elastomeric member 2335 located at the proximal end of the traction wire 2325. To close the jaws 2005A, 2006A (i.e., move the movable jaw 2006A distally), an electric current can be applied to the muscle wire 2327 to transition the muscle wire 2327 from its extended base length to its transformed shortened length. By doing this, the muscle thread 2327 can move around the mechanical element 2328 so that the distal end of the muscle thread 2327 applies a distal traction force on the ferrule 2326 (and therefore on the protrusion 2338) to move the movable mandible 2006A in the distal direction towards the fixed mandible 2005A along the linear guide 2337, as shown in Figure 20C.The distal traction force applied to ferrule 2326 further applies a distal traction force on the traction wire 2325, which is also coupled to ferrule 2326, and the traction wire 2325, in turn, distally pulls the elastomeric member 2335 at its proximal end, to transition the elastomer to a tensioned or extended configuration. To open the jaws 2005A, 2006A, the muscle wire 2327 can be de-energized, thus eliminating the distal traction force on ferrule 2326, the traction wire 2325, and the elastomeric member 2335. With the traction force. Petition 870250100843, dated 04 / 11 / 2025, page 152 / 547 With the distal section 144 / 416 removed, the elastomeric member 2335 can transition from its tensioned configuration to a non-tensioned, or shortened, configuration, thus applying a proximal traction force on the traction wire 2325, which, in turn, applies a proximal traction force on the ferrule 2326 and on the movable jaw 2006A coupled to the ferrule 2326 in the protrusion 2338. The proximal traction force, therefore, moves the movable jaw 2006A proximally in the linear guide 2337 to open the jaws 2005A, 2006A, as shown in Figure 20D.

[00205] It should be understood that, in embodiments, the muscle thread 2327 can be coupled directly or indirectly to the movable jaw 2006A, so that the muscle thread 2327 can directly or indirectly apply a distal traction force to the movable jaw 2006A. Similarly, it should be understood that, in embodiments, the elastomeric member 2335 can be coupled directly or indirectly to the movable jaw 2006A, so that the elastomeric member 2335 can directly or indirectly apply a proximal traction force to the movable jaw 2006A.

[00206] It should be understood that, in certain modalities, the muscle thread 2327 can be coupled directly or indirectly to the movable mandible 2006A, so that the muscle thread 2327 can directly or indirectly apply a traction force in the proximal direction on the movable mandible 2006A. In this way Petition 870250100843, dated 04 / 11 / 2025, page 153 / 547 145 / 416 similarly, it should be understood that, in embodiments, the elastomeric member 2335 can be coupled directly or indirectly to the movable jaw 2006A, so that the elastomeric member 2335 can apply a force directly or indirectly in the distal direction on the movable jaw 2006A.

[00207] With reference now to Figures 20E, 20F and Figure 21, the electrical and mechanical connections of the suture device 2001C will be described in more detail. As mentioned above, the main thread 2333 can be the proximal continuation of the insulated threads 2314A, 2314B, 2315A and 2315B, which can be grouped into the main thread 2333. As noted above, the cable 2305 can extend from the proximal end of the loop 2306 to connect to a power source and / or a control unit that provides user commands to control the operation of the suture device 2001C. In some embodiments, the main wire 2333 and / or the cable 2305 may be coupled to an electrical circuit board 2334. In some embodiments, the muscle wire 2327 may be coupled to the electrical circuit board 2334. In some embodiments, the electrical circuit board 2334 is positioned inside the loop 2306.In some embodiments, the electrical circuit board 2334 is positioned externally to the handle 2306. The electrical circuit board 2334 may include the hardware and software components necessary to collect user commands from inputs 2303, 2304, 2307. Petition 870250100843, dated 04 / 11 / 2025, page 154 / 547 146 / 416 and / or one or more external inputs to the loop 2306 (for example, on an external unit such as the external unit 2700) and selectively energize the muscle threads 2320A, 2320B, 2327 based on commands. The electrical circuit board 2334 may include the hardware and software components necessary to control the outputs 2308A and 2308B based on the operation of the suture device 2001C.

[00208] The operation of the suture device 2001C will now be briefly discussed. Similar to the use of the suture device 2001A, a user can load a needle, such as needle 2201E or any other needle described above, into one of the jaws 2005A, 2006A manually or using a loader 2347 (Figure 8C) with jaws 2005A, 2006A open. To load a needle, a user can activate an input, such as input 2303, which is designed not to be accidentally activated, to enter a charge / discharge mode, whereby muscle wires 2320A and 2320B can both be energized to provide a proximal force on gripping members 2316A and 2316B to retract gripping members 2316A, 2316B from the gripping slots of jaws 2005A, 2006A. Needle 2201 can then be positioned in the gripping slot of a desired jaw 2005A, 2006A. Examples will be described where needle 2201 is loaded into the fixed jaw 2005A.With needle 2201 positioned in the clamping slot of the fixed jaw 2005A, one. Petition 870250100843, dated 04 / 11 / 2025, page 155 / 547 Input 147 / 416, like input 2307, can be activated to de-energize muscle wire 2320A so that the proximal force on the gripping member 2316A is removed and the elastomeric member 2318A transitions from the fully compressed state to the semi-compressed state to advance the gripping member 2316A distally into the gripping slot of the fixed jaw 2005A and into a needle receptacle 2201 to retain the needle in the fixed jaw 2005A.

[00209] Once the needle 2201 is loaded, the suturing device 2001C can be positioned on the desired tissue to be sutured with the jaws 2005A, 2006A open. The user can then close the jaws 2005A, 2006A by advancing the movable jaw 2006A distally in the linear guide 2337 towards the fixed jaw 2005A. More specifically, the user can activate an input, such as input 2304, to move the movable jaw 2006A distally. Activating input 2304 can cause the muscle thread 2327 to be energized to apply a distal force on the ferrule 2326 and therefore on the movable jaw 2006A to move the jaw 2006A distally. When jaws 2005A and 2006A are closed, needle 2201 can enter the clamping slot of movable jaw 2006A. The user can then activate input 2307. Activating input 2307 can first cause muscle wire 2320B to be de-energized, so that proximal force on the limb is reduced. Petition 870250100843, dated 04 / 11 / 2025, page 156 / 547 148 / 416 of the clamping mechanism 2316B is removed and the elastomeric member 2318B transitions from the fully compressed state to the semi-compressed state to advance the clamping member 2316B distally into the clamping slot of the movable jaw 2006A and into a needle receptacle to retain the needle in the movable jaw 2006A. The actuation of the input 2307 can, secondly, cause the muscle wire 2320A to be energized, so that the muscle wire 2320A provides a proximal force on the clamping member 2316A to retract the clamping members 2316A from the clamping slots of the fixed jaw 2005A, thus transferring the needle from the fixed jaw 2005A to the movable jaw 2006A. In other words, the single operation of input 2307 can result in either the de-energization of muscle fiber 2320B or the energization of muscle fiber 2320A.

[00210] After needle transfer, jaws 2005A, 2006A can be opened by actuating port 2304. Actuating port 2304 can de-energize muscle thread 2327 so that the distal force on the movable jaw 2006A is removed, allowing the elastomeric member 2335 to transition to a non-tensioned / semi-tensioned state and provide a proximal force on the traction thread 2325 and on the movable jaw 2006A, thus moving the movable jaw 2006A proximally away from the fixed jaw 2005A. The suture device 2001C can then be moved to the desired tissue, and the jaws Petition 870250100843, dated 04 / 11 / 2025, page 157 / 547 149 / 416 2005A, 2006A can be closed as described above. With jaws 2005A, 2006A closed, the user can transfer the needle from the movable jaw 2006A to the fixed jaw 2005A, similarly to the procedure described for transferring the needle from the fixed jaw 2005A to the movable jaw 2006A above. When the suture is complete, the user can again activate input 2303 to enter a discharge mode and energize both muscle wires 2320A, 2320B so that the needle is released from either jaw 2005A, 2006A.

[00211] It should be understood that, during the use of the suture device, outputs 2308A and 2308B may alter their operation based on the energizing or de-energizing of the respective muscle threads in the needle transfer mechanism of the suture device 2001C and / or in the drive mechanism 2350 of the suture device 2001C.

[00212] Although embodiments of the suture device 2001C have been described including the elastomeric member 2335, the elastomeric member 2318A, and the elastomeric member 2318B, it should be understood that any or all of the elastomeric members may be replaced by potential energy members of a different type. For example, the elastomeric member 2335, the elastomeric member 2318A, and / or the elastomeric member 2318B may be replaced by a torsion spring or a leaf spring. It should be understood that when Petition 870250100843, dated 04 / 11 / 2025, page 158 / 547 150 / 416 included, potential energy members of different types can be similarly situated and mechanically connected like elastomeric members 2335, 2318A and 2318B.

[00213] It should be understood that the suture device 2001C may include one or more processors, internal (e.g., located within the loop 2306) or external, controlling the operation of the suture device 2001C inputs, the suture device 2001C outputs, and the energizing of the suture device 2001C muscle threads. In particular, the one or more processors may be configured to execute instructions encoded in at least one non-transient computer-readable storage medium to cause the one or more processors to perform any or all of the above functions and methods.

[00214] With reference now to Figures 27A, 27B, 28A, 28B, 28C and 28D, a suture device 2001E is represented. The suture device 2001E may resemble the suture device 2001C in large part, so the same reference numbers are used to represent similar parts along the suture device 2001C and 2001E. The suture device 2001E may include a fixed jaw 2005B, a movable jaw 2006B and a fixed jaw body 2545. The suture device 2001E differs Petition 870250100843, dated 04 / 11 / 2025, page 159 / 547 151 / 416 of the suture device 2001C in the sense that the movable jaw 2006B is configured to rotate relative to the fixed jaw 2005B. In particular, the fixed jaw body 2545 may include a jaw joint 2100 around which the movable jaw 2006B rotates. Although not shown in Figures 27A, 27B, 28A, 28B, 28C and 28D, it should be understood that the suture device 2001E may include a needle transfer mechanism similar to the needle transfer mechanism 2380 of the suture device 2001C. For example, the fixed jaw 2005B may include the actuator 2312A (Figures 19A-20B) and the movable jaw 2006B may include the actuator 2312B (Figures 19A-20B).

[00215] The suture device 2001E includes a drive mechanism 2500 for moving the movable mandible 2006B relative to the fixed mandible 2005B around the mandibular joint 2100. The drive mechanism 2500 may include a muscle wire 2527 and a traction wire 2525. The muscle wire 2527 may function similarly to the muscle wires described above, shortening in length when an electric current is applied to the muscle wire 2527 and extending in length when the muscle wire 2527 is disconnected from the electric current. The muscle wire 2527 and the traction wire 2525 may be pressed together by a ferrule 2520. In some embodiments, the ferrule 2520 is inserted and coupled to the movable mandible 2006B. Particularly, in Petition 870250100843, dated 04 / 11 / 2025, page 160 / 547 152 / 416 In some embodiments, the ferrule 2520 is inserted and coupled to a protrusion 2522 of the movable mandible 2006B, which is positioned proximally to the mandibular joint 2100. Through this coupling, the movable mandible 2006B can move together with the ferrule 2520. In some embodiments, the muscle thread 2527 extends proximally through the fixed mandibular body 2545 and the body 2302, similarly to the muscle thread 2327 discussed above in relation to the suture device 2001C. Muscle wire 2527 can be connected to a power source to provide current to muscle wire 2527. In some embodiments, traction wire 2525 extends proximally through the fixed jaw body 2545 and body 2302, similarly to traction wire 2325 discussed above in relation to suture device 2001C.In some embodiments, the traction wire 2525 extends to the loop 2306, wherein the proximal end of the traction wire 2525 may be coupled to a distal end of an elastomeric member 2535. The proximal end of the elastomeric member 2535 may be coupled to an inner portion 2536 of the loop 2306. In some embodiments, the drive mechanism 2500 may include one or more mechanical features, such as a mechanical feature 2501, a mechanical feature 2502, a mechanical feature 2503, and / or a mechanical feature 2504. The mechanical elements may... Petition 870250100843, dated 04 / 11 / 2025, page 161 / 547 153 / 416 provide guides for the muscle wire 2527 and the traction wire 2525. In some embodiments, the mechanical features of the muscle wire 2527 and the traction wire 2525 form a pulley system. The application of force on the pulley system, such as by energizing the muscle wire 2527 or by transitioning (e.g., extension or compression) the elastomeric member 2535, moves the ferrule 2520 laterally (e.g., in directions substantially to the left or to the right, as shown in Figure 28C, relative to the jaw joint 2100).Due to the permanent coupling between the ferrule 2520 and the protrusion 2522 of the movable jaw 2006B, the movement of the ferrule 2520 to the right, in turn, causes the movable jaw 2006B to rotate around the jaw joint 2100 away from the fixed jaw 2005B to open the jaws 2005B, 2006B, and the movement of the ferrule 2520 to the left, in turn, causes the movable jaw 2006B to rotate around the jaw joint 2100 towards the fixed jaw 2005B to close the jaws 2005B, 2006B. The standard position of the movable jaw 2006B is a fully open position (shown in Figure 28C) due to the elastomeric member 2535 located at the proximal end of the traction wire 2525. To close the jaws 2005B, 2006B (i.e., to rotate the movable jaw 2006B towards the fixed jaw 2005B), an electric current can be applied to the muscle wire 2527 so that the muscle wire 2527 transitions from its... Petition 870250100843, dated 04 / 11 / 2025, page 162 / 547 154 / 416 base length, extended, to its shortened, transformed length. In doing so, the muscle fiber 2527 can move around the mechanical features 2503, 2504, so that the distal end of the muscle fiber 2527 applies a traction force in the left direction on the ferrule 2520 (and therefore on the protrusion 2522) to rotate the movable mandible 2006B around the mandibular joint 2100 relative to the fixed mandible 2005B towards the fixed mandible 2005B, as shown in Figure 28B. The tensile force applied to the left on the ferrule 2520 further applies a tensile force to the left on the tensile wire 2525, which is also coupled to the ferrule 2520, and the tensile wire 2525, in turn, pulls the elastomeric member 2535 at its proximal end distally, to transition the elastomer 2535 to a tensioned, or extended, configuration.To open the jaws 2005B, 2006B, the muscle thread 2527 can be de-energized, thus eliminating the leftward traction force on the ferrule 2520, the traction thread 2525, and the elastomeric member 2535. With the leftward traction force eliminated, the elastomeric member 2535 can transition from its tensioned configuration to a non-tensioned, or shortened, configuration, thus applying a proximal traction force on the traction thread 2525, which, in turn, applies a rightward traction force on the ferrule 2520 and on the movable jaw 2006B coupled to the ferrule 2520. Petition 870250100843, dated 04 / 11 / 2025, page 163 / 547 155 / 416 on protrusion 2522. The traction force to the right causes the movable jaw 2006B to rotate about the jaw joint 2100 relative to the fixed jaw 2005B, moving away from the fixed jaw 2005B, as shown in Figure 28C.

[00216] It should be understood that, in embodiments, the muscle thread 2527 may be coupled directly or indirectly to the movable jaw 2006B, such that the muscle thread 2527 may directly or indirectly apply a traction force in the left direction on the movable jaw 2006B. Similarly, it should be understood that, in embodiments, the elastomeric member 2535 may be coupled directly or indirectly to the movable jaw 2006B, such that the elastomeric member 2535 may directly or indirectly apply a traction force in the right direction on the movable jaw 2006B.

[00217] It should be understood that, in embodiments, the muscle thread 2527 may be directly or indirectly coupled to the movable jaw 2006B, such that the muscle thread 2527 may directly or indirectly apply a traction force in the right direction on the movable jaw 2006B. Similarly, it should be understood that, in embodiments, the elastomeric member 2535 may be directly or indirectly coupled to the movable jaw 2006B, such that the elastomeric member 2535 may directly or indirectly apply a traction force in the left direction on the movable jaw. Petition 870250100843, dated 04 / 11 / 2025, page 164 / 547 156 / 416 2006B.

[00218] It should be understood that the operation of the suture device 2001E is predominantly the same as that of the suture device 2001C described above. Although embodiments of the suture device 2001E have been described including the elastomeric member 2535, it should be understood that the elastomeric member 2535 may be replaced by potential energy members of a different type. For example, the elastomeric member 2535 may be replaced by a torsion spring or a leaf spring. It should be understood that, when included, potential energy members of different types may be similarly situated and mechanically connected as the elastomeric members 2535.

[00219] It should be understood that the suture device 2001E may include one or more processors, internal (e.g., located within the loop 2306) or external, controlling the operation of the suture device 2001E inputs, the suture device 2001E outputs, and the energizing of the suture device 2001E muscle threads. In particular, the one or more processors may be configured to execute instructions encoded in at least one non-transient computer-readable storage medium to cause the one or more processors to perform any or all of the functions and Petition 870250100843, dated 04 / 11 / 2025, page 165 / 547 157 / 416 methods above.

[00220] With reference now to Figures 20B, 21 and 22A-22C, embodiments of the suture device 2001C including one or more image sensors, such as one or more fiber optic cameras 2311, will now be discussed. In some embodiments, the fiber optic camera 2311 may allow visualization of otherwise invisible operating sites. The fiber optic camera 2311 generally includes one or more fiber optic strands 2310. The fiber optic strand 2310 can generally be configured to collect images, or input data, at its distal end and transmit the images to its proximal end. In some embodiments, the fiber optic wire 2310 is positioned in a guide, or channel, 2332. The guide 2332 may extend through the fixed mandible body 2345. The distal end of the guide 2332 may terminate in an opening 2331 in the fixed mandible body 2345, positioned between the fixed mandible 2005A and the movable mandible 2006A.One distal end of the optical fiber strand 2310 may be disposed in the aperture 2331. An optical window 2340 may be positioned over the aperture 2331. The optical window 2340 may be a protective glass or other suitable material which, in some embodiments, may be an optical lens to provide a desired viewing angle. In some embodiments, the optical window 2340 prevents contamination of the optical fiber strand 2310 by blood or tissue. Petition 870250100843, dated 04 / 11 / 2025, p. 166 / 547 158 / 416 etc., maintaining a clear view of the operative site. In some embodiments, a wiper 2341 can be attached to a surface of the movable jaw 2006A, projecting from the movable jaw 2006A towards the fixed jaw 2005A. As the movable jaw 2006A moves towards and away from the fixed jaw 2005A, the wiper 2341 can be configured to clean the optical window 2340. The wiper 2341 can be made of or coated with a biocompatible material. The fiber optic cable 2310 can extend through the guide 2332 in the fixed jaw body 2345, through the body 2302, and through or partially through the handle 2306. The fiber optic cable 2310 can be coupled to one or more processors and / or one or more display devices to process and display the data or images collected by the fiber optic cable 2310.Specifically, one or more processors may be configured to execute instructions encoded in at least one non-transient computer-readable storage medium, so that one or more processors control the operation of the fiber optic camera 2311, collect and analyze data or images from the fiber optic wire 2310, and display the data or images. In particular, it should be understood that, although such elements are not represented, the fiber optic camera 2311 may further include an external unit containing the sensor, processing unit, light source, and screen. Petition 870250100843, dated 04 / 11 / 2025, page 167 / 547 159 / 416

[00221] Although an image sensor in the form of a fiber optic camera 2311 is discussed above, it should be understood that the fiber optic camera 2311 can be replaced by any suitable imaging device for imaging tissues such as muscles, veins, nerves, and arteries in and around the jaws 2005A, 2006A. For example, in some embodiments, the image sensor can be replaced by an infrared fiber optic sensor / camera to generate infrared images of the operative site, a visible fiber optic sensor / camera, an ultraviolet fiber optic sensor / camera, and / or an ultrasound probe. In some embodiments, one or more ultrasound sensors / probes can be used to generate ultrasound images of the operative site. In some embodiments, there may be multiple sensors of each type mentioned above, in any combination.

[00222] Although the image sensor in the form of a fiber optic camera 2311 has been particularly discussed in relation to the suture device 2001C, it should be understood that an image sensor described in this document may be similarly included in any of the suture devices described herein. For example, the suture device 2001A, 2001B and / or 2001E may include one or more image sensors, such as the fiber optic camera 2311 in the fixed jaw 2005 and / or the fixed arm 2007, for Petition 870250100843, dated 04 / 11 / 2025, p. 168 / 547 160 / 416 surgical site imaging.

[00223] With reference now to Figures 23A and 23B, in some embodiments, the suture device 2001C may include one or more electric field sensors 2343. The electric field sensor 2343 may be integrated into the fixed jaw 2005A. In some embodiments, the electric field sensor 2343 may be detachable from the suture device 2001C. In some embodiments, the electric field sensor 2343 is positioned at a distal end of the fixed jaw 2005A. The electric field sensor 2343 and one or more input and output cables for the electric field sensor 2343 may be positioned in or extend through a channel 2342 in the fixed jaw 2005A. One or more input and output cables may extend proximally through the body 2302 and handle 2306 to be coupled to one or more processors and / or one or more display devices. In some embodiments, one or more input and output cables may be coupled to the electrical circuit board 2334.The 2343 electric field sensor can detect and locate nerves in and around the surgical site. In some modalities, the 2343 electric field sensor operates similarly to electrocardiography (ECG), electromyography (EMG), or electroencephalography (EEG), but with higher resolution. The 2343 electric field sensor is located at the distal tip of the fixed mandible 2005A, which is the palpation point of the... Petition 870250100843, dated 04 / 11 / 2025, page 169 / 547 The 161 / 416 suture device 2001C improves the utilization of the sensor 2343 by allowing the sensor 2343 to differentiate between tissue to be sutured and tissue not to be sutured. The electric field sensor 2343 can be coupled to one or more processors and / or one or more display devices to process and display the data collected by the electric field sensor 2343. In particular, the one or more processors can be configured to execute instructions encoded in at least one non-transient computer-readable storage medium to cause the one or more processors to control the operation of the electric field sensor 2343, collect and analyze data from the electric field sensor 2343, and display the collected data.

[00224] Although the electric field sensor 2343 has been discussed specifically in relation to the suture device 2001C, it should be understood that the electric field sensor 2343 can be similarly included in any of the suture devices described herein. For example, the suture device 2001A, the suture device 2001B, and / or the suture device 2001E can include the electric field sensor 2343 in the fixed mandible 2005 and / or the fixed arm 2007 to collect data on the operative site.

[00225] In some applications, the data (e.g., images) originate from fiber optic cameras. Petition 870250100843, dated 04 / 11 / 2025, page 170 / 547 162 / 416 The data from the fiber optic camera 2311 and the electric field sensor 2343 are processed by image processing algorithms, indicating the correct placement of the sutures in the target tissue, the location of nerves to be avoided, excessive bleeding, and / or other characteristics or conditions of interest. For example, processed images from the fiber optic camera 2311 and / or the electric field sensor 2343 can be displayed on a screen, including graphics such as green squares that, through the use of machine learning algorithms, can indicate the correct placement of the sutures in the target tissue. In some modalities, the surgeon can also select the target tissue of interest on the screen or in one or more user interfaces to lock onto and track the target tissue in the data displayed on the screen as the surgeon moves the suturing device in the surgical site.In some modes, different anatomical features or conditions identified in the data or images can be labeled with unique markers on the display screen. For example, nerves to be avoided might be shown on the screen by yellow squares, and excessive bleeding might be shown by red squares. As another example, each anatomical feature or condition can be indicated by any unique auditory and / or visual indicators. One or more system processors can be configured to execute instructions. Petition 870250100843, dated 04 / 11 / 2025, page 171 / 547 163 / 416 encoded in at least one non-transient, computer-readable storage medium, to enable one or more processors to perform any or all of the above image or data processing steps.

[00226] With reference now to Figures 24A and 24B, a pedal 2344 is represented. In some embodiments, the pedal 2344 can be connected to any of the suturing devices described above. For example, the pedal 2344 can be connected to the suturing device 2001A via cable 2602 or connected to the suturing device 2001C or 2001E via cable 2305. A user can provide one or more operating inputs to the suturing devices via the pedal 2344. For example, operating the pedal 2344 can control the energizing of any of the muscle threads described above and / or the operation of any of the elements described above. The suture devices may include one or more processors configured to execute instructions encoded in at least one non-transient, computer-readable storage medium, to cause the one or more processors to perform any or all of the above functions and methods based on inputs from pedal 2344.

[00227] With reference now to Figure 25, in some embodiments, the suture devices may include one or more piezoelectric films 2346. The piezoelectric films 2346 may be incorporated into any of the devices. Petition 870250100843, dated 04 / 11 / 2025, p. 172 / 547 164 / 416 of suture described in this document. The piezoelectric film 2346 can be positioned on one or more surfaces of the fixed jaw 2005, 2005A and / or the movable jaw 2006, 2006A. The piezoelectric film 2346 can induce vibrations with a desired frequency, phase, and amplitude. One or more electrical connections can extend proximally from the piezoelectric films 2346 to a power source and a controller to control the operation of the piezoelectric films 2346 based on user inputs or commands. The vibrations applied by the piezoelectric films 2346 on one or more jaws can reduce the force required for the passage of the needle 2201 through the tissue. The vibrations applied by the piezoelectric films 2346 in one or more jaws can reduce the tension between the needle 2201 and the tissue, resulting in less trauma to the tissue being sutured and therefore a faster healing outcome.The vibrations applied by the piezoelectric films 2346 in one or more jaws can improve the engagement of the needle 2201 between the jaws.

[00228] It should be understood that the needle transfer mechanisms contemplated in this document are not limited to needle transfer mechanisms for transferring needles between a pair of jaws, as discussed above. Instead, the needle transfer mechanisms described in this document may be Petition 870250100843, dated 04 / 11 / 2025, page 173 / 547 165 / 416 designed for use in suturing devices including a jaw, or no jaw. For example, the needle transfer mechanisms discussed in this document may be designed and used to advance a needle from a first position to a second position, and may further be used to move the needle from the second position to the first position. Such movement may occur between or from any suitable hardware components based on the design of a given suturing device. Therefore, the term “needle transfer mechanism,” as used in this document, is not limited to mechanisms for transferring a needle between two separate hardware components (e.g., jaws).Instead, “needle transfer mechanism,” as used in this document, may describe any mechanism designed to move a needle from a first position to a second position, independently of any selective release and / or retention of the needle in different hardware components. Furthermore, “needle transfer mechanism,” as used in this document, may describe any mechanism designed to apply a force on or engage with a needle. For example, actuator 2312A (Figure 20A) may be described as a needle transfer mechanism because actuator 2312A selectively moves gripping member 2316A (Figure 20B) to engage with needle 2201. Petition 870250100843, dated 04 / 11 / 2025, page 174 / 547 166 / 416 “Needle transfer mechanism, as used in this document, may describe any mechanism that moves a needle. “Needle transfer mechanism, as used in this document, may describe any mechanism that includes one or more moving parts that act on a needle.

[00229] For example, with reference to Figures 26A and 26B, a distal end 2402 of a suture device 2001D is shown. The distal end 2402 may include a needle retention member 2403. The needle retention member 2403 may include an orifice 2405. The suture device 2001D may include a needle 2404 and a needle transfer mechanism 2406. The orifice 2405 may be an opening to receive the needle 2404, so that the needle 2404 can move through the orifice 2405. The needle transfer mechanism 2406 is shown schematically, but generally includes a muscle thread 2408, similar to the muscle threads described above, and a potential energy member 2410. The muscle thread 2408 may be directly or indirectly coupled to the needle 2404, so that the muscle thread 2408 can apply a force on the needle 2404. In some embodiments, the muscle thread 2408 applies a traction force on the needle 2404 in the proximal direction.The potential energy member 2410 may be directly or indirectly coupled to needle 2404, or otherwise positioned relative to needle 2404, such that the energy member... Petition 870250100843, dated 04 / 11 / 2025, page 175 / 547 167 / 416 potential 2410 can apply a force on the needle 2404. In some embodiments, the potential energy member 2410 applies a force on the needle 2404 in the distal direction. The potential energy member 2410 may be a torsion spring, a leaf spring, an elastomer, etc. The muscle thread 2408 may be connected to a power source, such that when the muscle thread 2408 is energized, it shortens and applies a proximal traction force on the needle 2404 to move the needle 2404 and retain the needle 2404 in a first position shown in Figure 26B. In the first position, the needle 2404 may be predominantly or fully retracted within the distal end 2402 and the needle retention member 2403 of the suture device 2001D.The movement of needle 2404 to the first position and / or the energization and shortening of muscle fiber 2408 can apply a force on the potential energy member 2410 to move the potential energy member 2410 to a loaded configuration (e.g., compressing a spring). When muscle fiber 2408 is de-energized, muscle fiber 2408 begins to transition back to its base or extended length, and the proximal traction force is eliminated. Therefore, potential energy member 2410 moves and transitions to a relaxed configuration (e.g., a semi-compressed spring), so that potential energy member 2410 applies a distal force on needle 2404 to move needle 2404 to a second position. Petition 870250100843, dated 04 / 11 / 2025, page 176 / 547 168 / 416 position shown in Figure 26A. In the second position, the needle 2404 can extend from the distal end 2402 and, particularly, from the orifice 2405 of the needle retention member 2403 of the suture device 2001D, to a greater distance than when the needle 2404 is in the first position. Depending on the design of the needle 2404 and the suture device 2001D, the needle 2404 can move linearly and / or rotationally between the first and second positions. In both positions, first and second, the needle 2404 can be attached to or retained at the distal end 2402 of the suture device 2001D.

[00230] The embodiment represented in Figures 26A and 26B can be modified to transfer a needle from a first position in a suture device to a second position in a suture device. For example, Figure 26C represents an embodiment of the suture device 2001D, including the same transfer mechanism 2406 discussed and shown in Figures 26A and 26B. In the embodiment shown in Figure 26C, the suture device 2001D includes a first hole 2435 positioned in the first needle retention member 2403 and a second hole 2436 in a second needle retention member 2407, so that the needle 2404 can be moved out of the first hole 2435 of the suture device 2001D and into the second hole 2436 of the suture device 2001D. In other words, the needle Petition 870250100843, dated 04 / 11 / 2025, page 177 / 547 169 / 416 2404 can be transferred between orifices 2435, 2436 by the muscle thread 2408 and the potential energy member 2410. In some embodiments, the first needle retention member 2403 and the second needle retention member 2407 can be fixed relative to each other. In some embodiments, orifices 2435, 2436 can be positioned in jaws of the suture device 2001D. In some embodiments, orifices 2435, 2436 can be positioned in jaws of the suture device 2001D that are immobile and therefore fixed to each other. In some modalities, similar to what was discussed above, it should be understood that the muscle fiber 2408 (Figure 26B) and the potential energy member 2410 (Figure 26B) may be positioned to apply a force directly on the needle 2404 or to apply a force indirectly on the needle 2404.For example, muscle thread 2408 (Figure 26B) and potential energy member 2410 (Figure 26B) may be positioned to apply a force indirectly to needle 2404, for example, by means of a needle holder (not shown) that is coupled to needle 2404.

[00231] It should be understood that the characteristics of any of the suture device and suture system modalities described above can be combined in any desirable way. For example, any of the suture device modalities described above can Petition 870250100843, dated 04 / 11 / 2025, page 178 / 547 170 / 416 include a muscle thread as an actuator for a needle transfer mechanism. Any of the suture device modalities described above may include a muscle thread as an actuator for jaw movement. Any of the suture device modalities described above may include a fiber optic camera. Any of the suture device modalities described above may include an electric field sensor. Any of the suture device modalities described above may include piezoelectric films. Any of the suture device modalities described above may include any combination of muscle thread as an actuator for a needle transfer mechanism, muscle thread as an actuator for jaw movement, fiber optic camera, electric field sensor, and / or piezoelectric films.It should be understood that the muscle thread as an actuator of a needle transfer mechanism, the muscle thread as an actuator for jaw movement, the fiber optic camera, the electric field sensor and / or piezoelectric films (individually or together in any combination) may be incorporated into suturing devices including a needle transfer mechanism similar to that described in Patent Application PCT No. PCT / TR2022 / 050959. It should be understood that the muscle thread as an actuator of a needle transfer mechanism, the muscle thread as... Petition 870250100843, dated 04 / 11 / 2025, page 179 / 547 171 / 416 actuator for jaw movement, fiber optic camera, electric field sensor and / or piezoelectric films (individually or together in any combination) may be incorporated into suturing devices that include a needle transfer mechanism that does not transfer a needle between two jaws, such as the 2001D suturing device. It should be understood that muscle thread as an actuator for a needle transfer mechanism, muscle thread as an actuator for jaw movement, fiber optic camera, electric field sensor and / or piezoelectric films (individually or together in any combination) may be incorporated into suturing devices, such as those disclosed in U.S. Patent No. 7,048,749, U.S. Patent No. 6,475,135, U.S. Patent No. 11,369,365, U.S. Patent No. 8,034,060 and U.S. Patent No. 8,545,521.

[00232] Figure 14A represents a flowchart of a method 2900 for using the suture device 2001A or 2001B. In step 2902, the method 2900 may include providing the suture device 2001A or suture device 2001B. It is anticipated that the method 2900 can be performed with any modality of the suture device discussed in this document. The shape of the suture device and the angle between the jaws and arms can be optimized for certain procedures or tissues. For example, the angles Petition 870250100843, dated 04 / 11 / 2025, page 180 / 547 172 / 416 can be optimized for safety in order to avoid injuring other tissues, such as the bladder. The operator can select either the 2001A suture device or the 2001B suture device based on the treatment site to be sutured. For example, the operator can select between suture devices based on the tissue to be sutured.

[00233] In step 2904 of method 2900, a user can load the needle 2201 into the suture device 2001A. In some embodiments, as discussed above, the user can selectively enter a load-unload mode, by actuating input 2711B, for example, and activate the first muscle thread 2027A or the second muscle thread 2027B via one or more inputs (e.g., button 2604A) to load the needle 2201 into the suture device 2001A. In some embodiments, the user can connect the fixation member 2106A or the fixation member 2106B with a pre-loaded needle 2201 to the suture device 2001A. Needle 2201 can be loaded into the first clamping slot 2103 of the fixed jaw 2005 or into the second clamping slot 2104 of the movable jaw 2006.To retain the needle 2201 in the first clamping slot 2103 of the fixed jaw 2005, for example, the first muscle wire 2027A is not energized with an electric current, so that the first clamping member 2024A is held in a receptacle (for example, receptacle 2207A) of the needle 2201. Petition 870250100843, dated 04 / 11 / 2025, page 181 / 547 173 / 416

[00234] In step 2906 of method 2900, a user can move the suture device 2001A into a patient's cavity. In some embodiments, the cavity may be a vaginal cavity. In some embodiments, the cavity is a pelvic cavity. In some embodiments, the user can move the suture device 2001A into the cavity while the movable jaw 2006 of the suture device 2001A is closed relative to the fixed jaw 2005 of the suture device 2001A.

[00235] In step 2908 of method 2900, the user can open the movable arm 2008 relative to the fixed arm 2007 to open the movable jaw 2006 until the tissue in the cavity is between the fixed jaw 2005 and the movable jaw 2006. After opening the movable jaw 2006, the user can position the fixed jaw 2005 over the tissue to be sutured. It should be understood that the handle 2002A and the handle 2002B of the suture device 2001A can remain outside the cavity during the operation to facilitate manipulation of the handles 2002A, 2002B by the user. The movement of the movable arm 2008 in the cavity can cause the movable jaw 2006 to rotate around the jaw joint 2100 within the cavity. Since the movable arm 2008 can cause the movable jaw 2006 to move while the fixed jaw 2005 and the fixed arm 2007 can remain in the same position, the user can predict where the needle 2201 would be suturing, which allows the user Petition 870250100843, dated 04 / 11 / 2025, page 182 / 547 174 / 416 to suture more securely tissue that is difficult to see or not visible at all.

[00236] In step 2910 of method 2900, a user can close the movable jaw 2006 to move the needle 2201 through the tissue. While the movable jaw 2006 moves, the fixed jaw 2005 can provide a fixed reference, and the tissue within the cavity to be sutured can be placed between the fixed jaw 2005 and the movable jaw 2006. By moving the movable jaw 2006 relative to the fixed jaw 2005, the needle 2201 is passed through the tissue. Although the location where the suture is needed may be in a narrow and deep area that is difficult to see or not visible at all to the operator, the needle 2201 can suture at the desired location because the movement of the movable jaw 2006 is predictable and precise while the fixed jaw 2005 remains stationary relative to the target tissue. The user can close the movable arm 2008 relative to the fixed arm 2007 in order to close the movable jaw 2006 relative to the fixed jaw 2005.

[00237] In step 2912 of method 2900, the user can activate the needle transfer mechanism 2004 to transfer the needle 2201 from the fixed jaw 2005 to the movable jaw 2006 in order to perform the suture. The user can operate the needle transfer mechanism 2004 according to any of the operating modes described above.

[00238] With reference to Figure 14B, a Petition 870250100843, dated 04 / 11 / 2025, page 183 / 547 Figure 175 / 416 shows a suture device performing the substeps of step 2912 of method 2900. The operation of the needle transfer mechanism 2004 in semi-automatic single-button mode is illustrated. In step 2914, the user can activate an input (e.g., button 2604A). Activating button 2604A selectively energizes or de-energizes muscle threads 2027A, 2027B based on which jaw 2005, 2006 retains the needle 2201 before button 2604A is activated. In the present example, the single actuation of the input first causes the second muscle fiber 2027B to be de-energized, leading the fiber 2027B to lengthen and the second spring 2022B to transition to the semi-compressed state, which causes the second clamping member 2024B to extend into the second clamping slot 2104 of the movable jaw 2006 and press against the receptacle 2207B of the needle 2201. The needle 2201 is then held and retained in the second clamping slot 2104.The same single input actuation then causes the first muscle wire 2027A, coupled to the first traction wire 2021A and the first gripping member 2024A in the fixed jaw 2005, to be energized, so that the first muscle wire 2027A shortens and applies a proximal traction force to the first traction wire 2021A and the first gripping member 2024A. The force retracts the first gripping member 2024A from the receptacle 2207A of the needle 2201, releasing the needle 2201 from the first gripping slot 2103 of the fixed jaw 2005. Petition 870250100843, dated 04 / 11 / 2025, page 184 / 547 176 / 416

[00239] With reference to Figure 14C, a suturing device is shown performing the substeps of step 2912 of method 2900. The operation of the needle transfer mechanism 2004 in the semi-automatic double-button mode is illustrated. In step 2916, the user can activate one of the multiple inputs 2604. Specifically, with the needle 2201 initially held in the fixed jaw 2005, the user selects the input for transferring the needle 2201 from the fixed jaw 2005 to the movable jaw 2006. The single activation of the input first causes the second muscle wire 2027B to be de-energized, causing the wire 2027B to lengthen and the second spring 2022B to transition to the semi-compressed state, which causes the second clamping member 2024B to extend into the second clamping slot 2104 of the movable jaw 2006 and press against the receptacle 2207B of the needle 2201. The needle 2201 is then held and retained in the second clamping slot 2104.The same single input actuation then causes the first muscle wire 2027A, coupled to the first traction wire 2021A and the first gripping member 2024A in the fixed jaw 2005, to be energized, so that the first muscle wire 2027A shortens and applies a proximal traction force to the first traction wire 2021A and the first gripping member 2024A. The force retracts the first gripping member 2024A from the receptacle 2207A of the needle 2201, releasing the needle 2201 from the first gripping slot 2103 of the. Petition 870250100843, dated 04 / 11 / 2025, page 185 / 547 177 / 416 fixed jaw 2005.

[00240] With reference to Figure 14D, a suturing device is shown performing the substeps of step 2912 of method 2900. The operation of the needle transfer mechanism 2004 in automatic mode is illustrated. In step 2918, the user can, with the loops 2002A, 2002B closed, apply an additional force to the loops 2002A, 2002B until the force sensor 2804 measures the limit force. Once the limit force is applied to the loops 2002A, 2002B, the muscle threads 2027A, 2027B are selectively energized or de-energized based on which jaw 2005, 2006 retains the needle 2201 before the limit force is applied. In the present example, measuring the limit force causes the second muscle fiber 2027B to be de-energized, leading the fiber 2027B to lengthen and the second spring 2022B to transition to the semi-compressed state, which causes the second clamping member 2024B to extend into the second clamping slot 2104 of the movable jaw 2006 and press against the receptacle 2207B of the needle 2201.Needle 2201 is then held and retained in the second gripping slot 2104. Next, the first muscle wire 2027A, coupled to the first traction wire 2021A and the first gripping member 2024A in the fixed jaw 2005, is energized, so that wire 2027A shortens and applies a proximal traction force to the first traction wire 2021A and the first gripping member 2024A. The force retracts the first. Petition 870250100843, dated 04 / 11 / 2025, page 186 / 547 178 / 416 clamping member 2024A of the needle receptacle 2207A 2201, releasing the needle 2201 from the first clamping slot 2103 of the fixed jaw 2005.

[00241] Referring again to Figure 14A, steps 2908, 2910, and 2912 of method 2900 can be repeated sequentially as many times as desired. For example, after step 2912 discussed above, the jaws 2005, 2006 of the suture device 2001A can be opened, moved to a second location, and closed, and the user can actuate the needle transfer mechanism 2004 to release the needle 2201 from the clamping slot 2104 of the movable jaw 2006 and grasp and retain the needle 2201 in the clamping slot of the fixed jaw 2005 by means of actuation steps similar to those described with respect to step 2912.

[00242] With reference to Figure 14E, a flowchart of a method 2920 for using the suture device 2001C or the suture device 2001E is shown. In step 2922, the method 2920 may include the provision of the suture device. It is anticipated that the method 2920 can be performed with any embodiment of the suture device 2001C or the suture device 2001E discussed in this document. The shape of the suture device 2001C or 2001E may be ideal for certain procedures or tissues. For example, the body angles 2302 and / or the jaw angles 2005A, 2006A or 2005B, 2006B relative to the body. Petition 870250100843, dated 04 / 11 / 2025, page 187 / 547 179 / 416 2302 can be optimized for safety in order to avoid damage to other tissues, such as the bladder.

[00243] In step 2924, the user can load needle 2201 into suture device 2001C or suture device 2001E. In some embodiments, as discussed above, the user can select the charge-discharge mode input by activating input 2303, for example, causing muscle thread 2320A and / or muscle thread 2320B to be energized to load needle 2201 into suture device 2001C or 2001E. In some embodiments, the user can connect fixation member 2106A or fixation member 2106B with a pre-loaded needle 2201 to suture device 2001C or 2001E. Needle 2201 can be loaded into the clamping slot of the fixed jaw 2005A, 2005B or into the clamping slot of the movable jaw 2006A, 2006B.To retain the needle 2201 in the clamping slot of the fixed jaw 2005A, 2005B, for example, the muscle wire 2320A is not energized with an electric current, so that the clamping member 2316A is held in a receptacle (for example, receptacle 2207A) of the needle 2201.

[00244] In step 2926 of method 2920, the user can move the suture device 2001C or the suture device 2001E into a patient's cavity. In some embodiments, the cavity may be a vaginal cavity. In some embodiments, the cavity is a cavity Petition 870250100843, dated 04 / 11 / 2025, page 188 / 547 180 / 416 pelvic. In some embodiments, the user can move the suture device 2001C into the cavity while the movable jaw 2006A of the suture device 2001C is closed relative to the fixed jaw 2005A of the suture device 2001C. In some embodiments, the user can move the suture device 2001E into the cavity while the movable jaw 2006B of the suture device 2001E is closed relative to the fixed jaw 2005B of the suture device 2001E.

[00245] In step 2928 of method 2920, a user can open the movable jaw 2006A, 2006B until the tissue in the cavity is between the fixed jaw 2005A, 2005B and the movable jaw 2006A, 2006B. More specifically, with reference to the suture device 2001C, the user can activate an input, such as input 2304, to move the movable jaw 2006A proximally or away from the fixed jaw 2005A by de-energizing the muscle wire 2327. With reference to the suture device 2001E, the user can activate an input, such as input 2304, to rotate the movable jaw 2006B away from the fixed jaw 2005B by de-energizing the muscle wire 2527. After opening the movable jaw 2006A, 2006B, the user can position the fixed jaw 2005A, 2005B over the tissue to be sutured. It should be understood that the handle 2306 of the suture device 2001C or the suture device 2001E Petition 870250100843, dated 04 / 11 / 2025, page 189 / 547 181 / 416 can remain outside the cavity during the operation to facilitate manipulation of the suture device 2001C or the suture device 2001E by the user. Because the movable jaw 2006A moves linearly in the linear guide 2337 and the fixed jaw 2005A remains stationary, the user can predict where the needle 2201 will be suturing, allowing the user to more safely suture difficult-to-visualize or invisible tissue. Similarly, because the movable jaw 2006B rotates relative to the jaw joint 2100 and the fixed jaw 2005B remains stationary, the user can predict where the needle 2201 will be suturing, allowing the user to more safely suture difficult-to-visualize or invisible tissue.

[00246] In step 2930 of method 2920, a user can close the movable jaw 2006A, 2006B to move the needle 2201 through the tissue. In particular, with respect to the suture device 2001C, the user can activate an input, such as input 2304, to energize the muscle thread 2327 and move the movable jaw 2006A distally along the linear guide 2337 toward the fixed jaw 2005A. With respect to the suture device 2001E, the user can activate an input, such as input 2304, to energize the muscle thread 2527 and rotate the movable jaw 2006B toward the fixed jaw 2005B. While the movable jaw 2006A, 2006B moves, the fixed jaw 2005A, 2005B can provide a Petition 870250100843, dated 04 / 11 / 2025, page 190 / 547 182 / 416 fixed reference, and the tissue within the cavity to be sutured can be placed between the fixed jaw 2005A, 2005B and the movable jaw 2006A, 2006B. By moving the movable jaw 2006A, 2006B relative to the fixed jaw 2005A, 2005B, the needle 2201 is passed through the tissue. Although the location where the suture is required may be in a narrow and deep area that is difficult to see or not visible at all to the operator, the needle 2201 can suture at the desired location because the movement of the movable jaw 2006A, 2006B is known and precise along the linear guide 2337 or rotated around the jaw joint 2100, while the fixed jaw 2005A, 2005B remains stationary relative to the target tissue.

[00247] In a step 2932 of method 2920, the user can activate the needle transfer mechanism to transfer the needle 2201 from the fixed jaw 2005A, 2005B to the movable jaw 2006A, 2006B in order to perform the suture. In particular, the user can activate an input (e.g., input 2307) to transfer the needle 2201. The single activation of the input causes the muscle thread 2302B to be de-energized, causing the muscle thread 2320B to elongate and the elastomer member 2318B to pass into the semi-compressed state, which causes the clamping member 2316B to extend into the clamping slot of the movable jaw 2006A, 2006B and press into the receptacle 2207B of the needle 2201. Petition 870250100843, dated 04 / 11 / 2025, page 191 / 547 183 / 416 Needle 2201 is then held and retained in the clamping slot of the movable jaw 2006A, 2006B. A single actuation of the input causes the muscle fiber 2320A coupled to the clamping element 2316A in the fixed jaw 2005A, 2005B to be energized, so that the muscle fiber 2320A shortens and a proximal traction force is applied to the clamping element 2316A. The force retracts the clamping member 2316A from the receptacle 2207A of needle 2201, releasing needle 2201 from the clamping slot of the fixed jaw 2005A, 2005B.

[00248] Steps 2928, 2930, and 2932 of method 2920 can be repeated sequentially as many times as desired. For example, after step 1612 discussed above, jaws 2005A, 2006A of suture device 2001C, or jaws 2005B, 2006B of suture device 2001E, can be opened, moved to a second location, and closed, and the user can actuate the needle transfer mechanism to release the needle 2201 from the clamping slot of the movable jaw 2006A, 2006B and to hold and retain the needle 2201 in the clamping slot of the fixed jaw 2005A, 2005B by means of actuation steps similar to those described with respect to step 2932.

[00249] Now, referring generally to the suture devices 2001A, 2001B, and 2001C. The suture devices can be used for the treatment of pelvic floor disorders, such as the treatment of SUI and POP. By Petition 870250100843, dated 04 / 11 / 2025, page 192 / 547 184 / 416 For example, suture devices can be angled for transvaginal approaches or procedures. In another example, suture devices can be a minimally invasive surgical device for the vaginal wall or uterine prolapse in women. Suture devices can come in various sizes, shapes, and angles calculated and optimized based on the pelvic anatomy for which the suture device is to be used. The ideal size and shape allow suture devices to safely access the target tissues for each device in its specific surgeries. The angled design of suture devices allows the tip of the devices to reach the target pelvic structures to be sutured via the vaginal route. The angled design and sizes prevent unintentional contact with other tissues.The shape of suture devices can improve performance and provide safety and ease of access to target tissues, avoiding unintentional tissue damage. Suture devices can be minimally invasive, disposable or non-disposable, sterile, and for single or multiple use.

[00250] Suturing devices can be a transvaginal device for placing threads in the tissues at the surgical site during pelvic floor surgery in women (e.g., to treat stress urinary incontinence or pelvic organ prolapse, which is the protrusion of Petition 870250100843, dated 04 / 11 / 2025, p. 193 / 547 185 / 416 pelvic organs such as the bladder, rectum, and uterus in the vagina and beyond the vaginal opening). Suturing devices can be transvaginal devices used with a single incision, which can be advantageous compared to abdominal incisions and multiple incisions. Suturing devices can be used for consistent placement of threads in hard-to-reach locations, such as those that are narrow and not visible. Suturing devices can be a one-step suturing device, with an operating mechanism that allows the needle to be securely captured in the opposite jaw.

[00251] Suturing devices can suture specified tissue to the vesicovaginal fascia at the level of the bladder neck to elevate the bladder outlet to its normal position. Suturing devices can be ergonomic and shaped to perform the vaginal native tissue repair procedure for stress urinary incontinence. Suturing devices can be designed for the surgical treatment of stress urinary incontinence in women to facilitate consistent placement of sutures in hard-to-reach (narrow and non-visible) locations. Suturing devices can be designed to restore anterior vaginal support or for the vaginal colposuspension procedure. Suturing devices can be used in general hard-to-reach suturing applications. Petition 870250100843, dated 04 / 11 / 2025, page 194 / 547 186 / 416 during urogynecological procedures, including, but not limited to, stress urinary incontinence procedures, to assist in the placement of lines at the surgical site.

[00252] Suturing devices can allow the operator to perform surgery through the vagina (e.g., transvaginally as opposed to abdominal operations) in a minimally invasive manner (e.g., only a single vaginal incision). Suturing devices can be used for native tissue repair with a single vaginal incision by fixing the vaginal wall to the supporting structures of the pelvic floor (to assist in the placement of ligament threads over the supporting structures of the pelvic floor). Suturing devices can be used by an operator (e.g., surgeon) with direct sensory and / or visual control. The suturing device can be designed to allow the operator to perform native tissue repair without the placement of an artificial implant (as opposed to the mid-urethral sling technique, which requires the placement of a synthetic tape / mesh, or transvaginal mesh operations).

[00253] Suture devices can be designed to be safely inserted into the cavity. The safety of suture devices can be derived from the length of the suture devices. For example, the Petition 870250100843, dated 04 / 11 / 2025, page 195 / 547 The lengths (of the 2007 and 2008 arms and 2005 and 2006 jaws) and angles of the suture devices can contribute to the safety outcomes described in this descriptive report, and as such, the lengths and angles can be designed to avoid damaging the vagina or the incision. In another example, since the entry point of the suture device into the body is through the vagina, but the entry into the surgical site is through the incision that is opened in the vaginal wall, the operator can insert the suture device into the pelvic cavity where the pelvic arch tendinous fascia (TAF) is located. For example, for stress incontinence operations performed with the suture device, the suture device does not need to be inserted beyond the TAF, which is the anatomical landmark used to determine the length of the suture device.Even if the suturing device is positioned in the vagina beyond the arm joint, the length of the suturing devices ensures that the widening of the suturing device caused by the opening of the loop does not affect the incision.

[00254] Suturing devices can facilitate the consistent and sequential placement of threads (e.g., performing multiple sutures with the same needle; also called Z-stitch or figure-of-eight sutures) over pelvic floor structures that are in hard-to-reach locations during pelvic floor surgery. The Petition 870250100843, dated 04 / 11 / 2025, p. 196 / 547 188 / 416 suture devices can be designed to facilitate consistent placement of sutures in hard-to-reach locations (deep, narrow, and non-visible surgical site) during transvaginal prolapse surgery (as opposed to abdominal surgery). The suture devices can suture the specified tissue to the apical vaginal wall or cervix in order to provide vaginal apex elevation.

[00255] Suturing devices can be used for a minimally invasive transvaginal procedure. Suturing devices can be designed for vaginal or uterine wall prolapse surgery, based on native tissue repair in women with pelvic organ prolapse (sinking of pelvic organs, such as the bladder, uterus, or bowel, into the vagina). Suturing devices can be designed to allow the operator to perform native tissue repair without the placement of an artificial implant (unlike operations requiring the placement of synthetic mesh). Suturing devices allow operators to perform minimally invasive vaginal surgery, such as with only one incision.Suturing devices can be used in general hard-to-reach suturing applications during urogynecological procedures, including, but not limited to, transvaginal pelvic organ prolapse procedures, to assist in placing sutures at the surgical site. The devices... Petition 870250100843, dated 04 / 11 / 2025, p. 197 / 547 189 / 416 sutures can be used with direct sensory and / or visual control.

[00256] Although one or more embodiments of the present description have been described, it is understood that these embodiments are merely illustrative, and not restrictive, and that many modifications may become apparent to a person skilled in the art, including that various embodiments of the inventive methodologies, the illustrative systems and platforms, and the illustrative devices described herein may be used in any combination with each other. Furthermore, the various steps may be performed in any desired order (and any desired steps may be added and / or any desired steps may be eliminated).

[00257] Now, with general reference to Figures 29A and 29B, the suturing device 4001A may have a scissor shape and ergonomic dimensions to reach target tissues in a confined space. The suturing device 4001A may comprise a fixed arm 4007 formed in one piece with a fixed jaw 4005. In some embodiments, a distal end of the fixed arm 4007 includes the fixed jaw 4005. The suturing device 4001A may comprise a mobile arm 4008 coupled to a mobile jaw 4006.

[00258] The fixed jaw 4005 and the movable jaw 4006 can both receive and hold a needle, and the Petition 870250100843, dated 04 / 11 / 2025, p. 198 / 547 190 / 416 suture device 4001A may further comprise a needle transfer mechanism 4004 for transferring the needle between the fixed jaw 4005 and the movable jaw 4006. The needle transfer mechanism 4004 may include a lever 4003 for controlling the needle transfer between the fixed jaw 4005 and the movable jaw 4006. In some embodiments, the lever 4003 extends from the fixed arm 4007.

[00259] In some embodiments, the suturing device 4001A may comprise a first loop 4002A attached to the fixed arm 4007 and a second loop 4002B attached to the movable arm 4008. The loop 4002A and the loop 4002B may assist the user in moving the movable arm 4008 relative to the fixed arm 4007. The loop 4002A and the loop 4002B may be disposed at the end of the suturing device 4001A that remains outside the cavity during the operation, so that the operator can control the suturing device 4001A.

[00260] Figure 30A and Figure 30B show an embodiment of the suture device 4001A. In some embodiments, the fixed jaw 4005 includes a first clamping slot 4103 that can receive the needle 4201 (described in more detail with reference to Figure 33B). In some embodiments, the movable jaw 4006 includes a second clamping slot 4104 that can receive the needle 4201. In some embodiments, the clamping slots are sized channels and Petition 870250100843, dated 04 / 11 / 2025, p. 199 / 547 191 / 416 shaped to receive the needle. For example, the clamping slots may define a rounded channel or a rounded hole to receive and hold the needle.

[00261] In some embodiments, the needle transfer mechanism 4004 can transfer the needle between the first clamping slot 4103 and the second clamping slot 4104. For this purpose, the needle transfer mechanism can clamp the needle in the first clamping slot 4103 or in the second clamping slot 4104 or release the needle from the first clamping slot 4103 or from the second clamping slot 4104.

[00262] Figures 31A-31E show an embodiment of a mechanism for moving the movable arm 4008 to rotate relative to the fixed arm 4007 and thus causing the movable jaw 4006 to rotate relative to the fixed jaw 4005. As shown in Figure 31A, the movable arm 4008 may exhibit an arm movement 4105, along which the movable arm 4008 rotates away from or towards the fixed arm 4007. For example, the arm movement 4105 may be caused by the surgeon's manual movement over the handle 4002A to open and close the device 4001A. This control may be advantageous when operating in invisible areas, to ensure that the movement of the device 4001A is under the operator's control. In some embodiments, the arm movement 4105 may be caused by additional mechanical force elements, such as a spring. Petition 870250100843, dated 04 / 11 / 2025, page 200 / 547 192 / 416

[00263] The fixed arm 4007 can remain stationary relative to the movable arm 4008 while the movable arm 4008 moves. The movable arm 4008 can rotate relative to the fixed arm 4007 to rotate the movable jaw 4006 relative to the fixed jaw 4005. The movement of the movable arm 4008 relative to the fixed arm 4007 can allow the movable jaw 4006 to exhibit a jaw movement 4107, along which the movable jaw 4006 can rotate away from or towards the fixed jaw 4005. The fixed jaw 4005 can remain stationary relative to the movable jaw 4006 while the movable jaw 4006 moves. In some embodiments, the movable arm 4008 and the movable jaw 4006 move relative to the fixed arm 4007. In some embodiments, the movable arm 4008 and the movable jaw 4006 move relative to the fixed jaw 4005. In some embodiments, the movable arm 4008 and the movable jaw 4006 move relative to each other.In some embodiments, the fixed arm 4007 and the fixed jaw 4005 do not move. In some embodiments, the fixed jaw 4005 cannot move independently of the fixed arm 4007 because the fixed arm 4007 is integral to the fixed jaw 4005.

[00264] The 4005 fixed jaw can facilitate safe work in tight spaces, as the fact that the 4005 fixed jaw remains stationary relative to the target tissue allows sutures to be applied in a safe area. For example, when the operator moves the jaw. Petition 870250100843, dated 04 / 11 / 2025, p. 201 / 547 193 / 416 mobile 4006 in relation to the fixed jaw 4005, the operator will know the location of the fixed jaw 4005. When the target tissue is referenced by the fixed jaw 4005 in a hard-to-see or non-visible operating location, the fixed jaw 4005 allows the suture to pass through the target tissue. The fixed jaw 4005 and the mobile jaw 4006 can be positioned in a constant or predictable position relative to the tissue, so that location and distance do not need to be continuously estimated to center the tissue. Thus, the fixed jaw 4005 allows suturing in areas that are difficult to visualize.

[00265] As shown in Figure 31B, in some embodiments, the movable arm 4008 can rotate relative to the fixed arm 4007 to rotate the movable jaw 4006 relative to the fixed jaw 4005. The movable arm 4008 can rotate the movable jaw 4006 relative to the fixed jaw 4005 until the needle 4201 is received in both the first clamping slot 4103 and the second clamping slot 4104, allowing the needle to be changed between the slots.

[00266] The lever 4003 can move between one or more positions to control the function of the first and second gripping grooves. As shown in Figures 31A-31E, in some embodiments, the lever 4003 can move between a first position 4110A, a second position 4110B, or a third position 4110C to control the clamping. Petition 870250100843, dated 04 / 11 / 2025, page 202 / 547 194 / 416 and the release of the first clamping slot 4103 and the second clamping slot 4104. For example, lever 4003 can be a shifter, a handle, or a switch that can be moved by the operator. In the first position 4110A, the needle 4201 is fixed in the first clamping slot 4103 of the fixed jaw 4005. As shown in Figure 31A, when the movable arm 4008 is in motion or open, the needle transfer mechanism 4004 can hold the needle 4201 in the fixed jaw 4005 while maintaining the inactive grip on the movable jaw 4006. As shown in Figure 31B, when the movable arm 4008 is adjacent to the fixed arm 4007, the needle transfer mechanism 4004 can hold the needle 4201 in the fixed jaw 4005 while maintaining the inactive grip on the movable jaw 4006 by keeping the lever 4003 in the first position 4110A.

[00267] As shown in Figure 31C, the lever 4003 can then be moved to the second position 4110B, so that the needle 4201 is released from the first clamping slot 4103, while still loose in the second clamping slot 4104. As shown in Figure 31C, the needle transfer mechanism 4004 can be inactive in both the fixed jaw 4005 and the movable jaw 4006 to release the needle 4201.

[00268] As shown in Figure 31D, in the third position 4110C, the needle 4201 is attached to the second slot of Petition 870250100843, dated 04 / 11 / 2025, page 203 / 547 195 / 416 grip 4104. As shown in Figure 31D, the needle transfer mechanism 4004 can hold the needle 4201 in the movable jaw 4006 while maintaining the inactive grip in the fixed jaw 4005. As shown in Figure 31E, when the movable jaw 4006 rotates away from the fixed jaw 4005 by the movement of the movable arm 4008, the needle is held in the movable jaw 4006, thus completing the needle transfer between the fixed jaw 4005 and the movable jaw 4006. As shown in Figure 31E, when the movable arm 2008 is in motion or open, the needle transfer mechanism 2004 can hold the needle 4201 in the movable jaw 2006 while maintaining the inactive grip in the fixed jaw 2005.

[00269] Generally referring to Figures 31A31E, in some embodiments, the suture device 4001A additionally includes a cover 4108 partially disposed over the lever 4003. The lever 4003 can move between positions to set the first position 4110A, the second position 4110B, or the third position 4110C. In some embodiments, the cover 4108 includes markings, recesses, or indicators corresponding to the movements of the lever 4003 to the first position 4110A, the second position 4110B, or the third position 4110C.

[00270] Figures 32A-32C show a mechanism of an embodiment of the 4001A suture device for the Petition 870250100843, dated 04 / 11 / 2025, p. 204 / 547 196 / 416 movement of the movable arm 4008 relative to the fixed arm 4007, allowing the movable jaw 4006 to exhibit jaw movement 4107, along which the movable jaw 4006 rotates away from or towards the fixed jaw 4005. In some embodiments, the fixed arm 4007 may include an arm joint 4101 to couple the fixed arm 4007 to the movable arm 4008. For example, the arm joint 4101 may be a mechanical joint to connect two components and allow them to move relative to each other. In some embodiments, the arm joint 4101 enables movement of the movable arm 4008 relative to the fixed arm 4007. For example, the movable arm 4008 can rotate around the arm joint 4101 and relative to the fixed arm 4007. In another example, the arm joint 4101 can allow the movable arm 4008 to rotate relative to the fixed arm 4007 in one degree of freedom.In yet another example, the arm joint 4101 may restrict some movement of the movable arm 4008, so as to prevent the movable arm 4008 from breaking or exerting excessive force on the movable jaw 4006, the slots, or any other component described in this document.

[00271] In some embodiments, the fixed arm 4007 includes a jaw joint 4100. In some embodiments, the fixed jaw 4005 includes the jaw joint 4100. The jaw joint 4100 is coupled to the movable jaw 4006 so that the movable jaw 4006 can rotate relative to the Petition 870250100843, dated 04 / 11 / 2025, p. 205 / 547 197 / 416 fixed jaw 4005. For example, the jaw joint 4100 may be a mechanical joint for connecting two components and allowing them to move relative to each other. In some embodiments, the movable jaw 4006 may rotate about the jaw joint 4100 and relative to the fixed jaw 4005. For example, the jaw joint 4100 may allow the movable jaw 4006 to rotate relative to the fixed jaw 4005 in one degree of freedom. In another example, the jaw joint 4100 may restrict some movement of the movable jaw 4006 so as to prevent the movable jaw 4006 from breaking or exerting excessive force on the fixed jaw 4005, the slots, or any other component described in this document.

[00272] In some embodiments, the suturing device 4001A further includes a connecting joint 4102 coupled to the movable arm 2008 and the movable jaw 2006. The connecting joint 4102 can be positioned between the jaw joint 4100 and the arm joint 4101, so that the jaw joint 4100 and the arm joint 4101 are uncoupled and mechanically independent of each other. The connecting joint 4102 can allow the movable arm 2008 to move to rotate the movable jaw 4006. For example, the connecting joint 4102 can be a mechanical joint to connect two components and allow them to move relative to each other. In some embodiments, the movable arm 4008 can move Petition 870250100843, dated 04 / 11 / 2025, p. 206 / 547 198 / 416 physically engages the connecting joint 4102 to cause the movable jaw 4006 to rotate around the jaw joint 4100. The movement of the movable arm 4008 can move the connecting joint 4102 to rotate the movable jaw 4006 around the jaw joint 4100. For example, as shown in Figures 32B and 32C, the movement of the movable arm 4008 away from the fixed arm 4007 causes the connecting joint 4102 to move across the width of the fixed arm 4007. The connecting joint 4102 pulls the movable jaw 4006, which causes the movable jaw 4006 to rotate around the jaw joint 4100 and away from the fixed jaw 4005.

[00273] In some embodiments, the connecting joint 4102 may restrict some movement of the movable jaw 4006 and the movable arm 4008, so as to prevent them from disconnecting or exerting excessive force on the slits or any other component described in this document. For example, the connecting joint 4102 may be restricted to movements along the width of the fixed arm 4007, which would prevent excessive movement of the movable jaw 4006 and the movable arm 4008. In some embodiments, the portion of the fixed arm 4007 between the jaw joint 4100 and the arm joint 4101 may remain in a fixed position while the movable jaw 4006 moves within the pelvic cavity and the movable arm 4008 moves outside the vaginal cavity. Such movements may advantageously reduce the profile of the movable jaw 4006 and the movable arm. Petition 870250100843, dated 04 / 11 / 2025, p. 207 / 547 199 / 416 4008.

[00274] In some embodiments, the fixed arm 4007 includes a reference point (or reference body) 4009, comprising the jaw joint 4100, the arm joint 4101, and the connecting joint 4102. The articulation movements of the movable arm 4008 and the movable jaw 4006 around the reference point 4009 allow the suturing device 4001A to move as a scissor-type mechanism. For example, the suturing device 4001A may be composed of 3 rigid metal parts (e.g., (1) fixed jaw 4005 integrated into the fixed jaw 4005, (2) the movable arm 4008, and (3) the movable jaw 4006) which are fixed together by means of the three joints 4100-4102. The movable jaw 4006 and the movable arm 4008 can move relative to each other and the fixed arm 4007 and the fixed jaw 4005 around the reference point 4009 in 2D space, as described above.In some embodiments, the movable arm 4008 rotates around the reference location 4009 and relative to the fixed arm 4007. In some embodiments, the movable jaw 4006 rotates around the reference location 4009 and relative to the fixed arm 4005.

[00275] For example, during the operation of the suturing device 4001A within the pelvic cavity, in order to perform the suture in the correct location, the fixed arm 4007, whose outer contour can be designed in such a way Petition 870250100843, dated 04 / 11 / 2025, page 208 / 547 The corresponding 200 / 416 can be aligned with the specific area of ​​the pelvic cavity and becomes fixed in relation to that specific area of ​​the pelvic cavity, while the jaw joint 4100, the arm joint 4101, and the connecting joint 4102 allow the operator to move the handle 4002A to move the movable arm 4008 and thus move the movable jaw 4006. By keeping the fixed arm 4007 in position, the jaws 4005 and 4006 can be correctly positioned for suturing.

[00276] Figures 33A-33I illustrate embodiments of needle 4201. Needle 4201C, needle 4201D, and needle 4201E (referred to generically as needle 4201) may include a first notch 4207A and a second notch 4207B. The position of the first notch 4207A and the second notch 4207B on needle 4201 allows needle 4201 to be held in the first clamping slot 4103 or the second clamping slot 4104, or both. For example, the first notch 4207A may be attached to the fixed jaw 4005 and the second notch 4207B may be attached to the movable jaw 4006.

[00277] As shown in Figure 33A, needle 4201 can be a 4201C needle with a concave shape. Figure 33B, Figure 33C, Figure 33D, and Figure 33E illustrate an embodiment of a 4201D needle with a straight shape. In some embodiments, needle 4201C and needle 4201D may include a hole 4208. In some embodiments, hole 4208 can be used to attach the thread to the needle by piercing it. Petition 870250100843, dated 04 / 11 / 2025, page 209 / 547 201 / 416 middle of needle 4201C or 4201D, inserting the thread (for example, a 4016 thread) into hole 4208 and deforming hole 4208 with the aid of a suitable die geometry coupled to a press. In some embodiments, the needle 4201 and the thread 4016 can be fixed using a suitable adhesive instead of deforming hole 4208.

[00278] Figure 33F, Figure 33G, Figure 33H, and Figure 33I illustrate an embodiment of a needle 4201E that includes a channel 4209. It will be understood that other needles (including straight and curved needles) described herein, such as needle 4201C and needle 4201D, may include a channel. Channel 4209 may be an open channel feature for attaching needle 4201 to thread 4016. Channel 4209 may be open in the central region of needle 4201E. A thread may be placed inside channel 4209, and channel 4209 may be deformed onto the thread with the aid of a die of suitable geometry attached to a press. In some embodiments, needle 4201 and thread 4016 may be fixed using an appropriate adhesive instead of deforming channel 4209.

[00279] Figure 33J shows an embodiment of the needle transfer mechanism 4004 of the suture device 4001A. The needle transfer mechanism 4004 can allow the needle 4201 to be retained in the jaws 4005 and 4006 or released from them with the aid of flexible plates. Petition 870250100843, dated 04 / 11 / 2025, page 210 / 547 202 / 416 that move forward and backward (for example, the first control bar 4505A and the second control bar 4505B and / or the first clamping member 4510A and the second clamping member 4510B). These plates can be pulled or pushed by a control lever (for example, lever 4003) coupled to the plates. In some embodiments, the first control bar 4505A, the second control bar 4505B, the first clamping member 4510A and the second clamping member 4510B may be located on the fixed arm 4007. In some embodiments, the first control bar 4505A, the second control bar 4505B, the first clamping member 4510A and the second clamping member 4510B may be located on the fixed jaw 4005 and the fixed arm 4007.

[00280] With reference to Figure 33J, the needle transfer mechanism 4004 includes the first control bar 4505A and the second control bar 4505B. In some embodiments, the first control bar 4505A and the second control bar 4505B extend into respective channels in the fixed arm 4007. In some embodiments, the first control bar 4505A extends into a channel through the fixed jaw 4005. In some embodiments, the second control bar 4505B extends into a channel through the movable jaw 4006.

[00281] The control bars can advance or retract independently within their respective channels. Petition 870250100843, dated 04 / 11 / 2025, p. 211 / 547 203 / 416 In some embodiments, the first control bar 4505A may extend toward the first clamping slot 4103 and toward the first notch 4207A or the second notch 4207B of the needle 4201 located in the first clamping slot 4103 to secure the needle 4201 in the first clamping slot 4103. In some embodiments, the first control bar 4505A may retract from the first clamping slot 4103 and the first notch 4207A or the second notch 4207B to release the needle 4201 from the first clamping slot 4103. In some embodiments, the second control bar 4505B may extend toward the second clamping slot 4104 and toward the first notch 4207A or the second notch 4207B of the needle 4201 located in the second clamping slot 4104 to secure the needle 4201 in the second clamping slot. 4104.In some embodiments, the second control bar 4505B can retract from the second clamping slot 4104 and the first notch 4207A or from the second notch 4207B to release the needle 4201 from the second clamping slot 4104. For example, the control bars can be pulled into their respective channels.

[00282] The needle transfer mechanism 4004 may include a switching joint 4106 that is coupled to lever 4003, the first control bar 4505A and the second control bar 4505B. In some embodiments, the switching joint 4106 is arranged on the fixed arm 4007. The movement of Petition 870250100843, dated 04 / 11 / 2025, page 212 / 547 204 / 416 lever 4003 can cause movement of the switching joint 4106, which can cause movement of the first control bar 4505A and the second control bar 4505B to clamp or release the needle 4201 in the first clamping slot 4103 or the second clamping slot 4104. For example, the switching joint 4106 can be a mechanical joint to connect two components and allow them to move relative to each other.

[00283] In some embodiments, lever 4003 can rotate or move the switching joint 4106 to move the first control bar 4505A and the second control bar 4505B. For example, lever 4003 can rotate the switching joint 4106 and thus push or pull the control rods connected to the switching joint 4106. In this way, the movement of lever 4003 can advance the first control rod 4505A towards the first clamping slot 4103 while retracting the second control rod 4505B from the second clamping slot 4104, or retract the first control rod 4505A away from the first clamping slot 4103 while advancing the second control rod 4505B towards the second clamping slot 4104. For example, the switching joint 4106 is rotated clockwise by lever 4003 so that the first control rod 4505A is retracted away from the first clamping slot 4103 and the second control rod 4505B is advanced towards the Petition 870250100843, dated 04 / 11 / 2025, p. 213 / 547 205 / 416 second clamping slot 4104. In another example, the commutator joint 4106 is rotated counterclockwise by lever 4003 so that the first control bar 4505A is advanced towards the first clamping slot 4103 and the second control bar 4505B is retracted away from the second clamping slot 4104.

[00284] Figure 33K, Figure 33L and Figure 33M show an exploded view of an embodiment of the first control bar 4505A and the second control bar 4505B, and the first clamping member 4510A and the second clamping member 4510B. In some embodiments, the first clamping member 4510A and the second clamping member 4510B extend into respective channels in the fixed arm 4007. In some embodiments, the first clamping member 4510A extends into a channel in the fixed jaw 4005. In some embodiments, the first clamping member 4510A extends into a channel in the movable jaw 4006.

[00285] In some embodiments, the control bars are connected or overmolded to a respective clamping member. For example, the first control bar 4505A and the first clamping member 4510A may be a single bar, so that the first clamping member 4510A is an extension of the first control bar 4505A. Although not shown, in another example, it is considered that the first control bar 4505A and the first clamping member 4510A may be... Petition 870250100843, dated 04 / 11 / 2025, page 214 / 547 206 / 416 being separate bars, so that the first clamping member 4510A is coupled to the first control bar 4505A. As shown in Figure 33M, the first clamping member 4510A (or the second clamping member 4510B) can bend relative to the first control bar 4505A (or the second control bar 4505B). The highly elastic nature of the first clamping member 4510A and the second clamping member 4510B allows them to move and function in the angled channels of the jaws 4005 and 4006.

[00286] Returning to Figure 33J, in some embodiments, the first control bar 4505A can advance the first clamping member 4510A toward the first notch 4207A or the second notch 4207B of the needle 4201 disposed in the first clamping slot 4103 to clamp the needle 4201 in the first clamping slot 4103. For example, the first control bar 4505A can be pushed toward the first clamping slot 4103. In this way, the movement of the first control bar 4505A can cause the first clamping member 4510A to hold the first notch 4207A or the second notch 4207B to hold the needle 4201 in the first clamping slot 4103.

[00287] In some embodiments, the first control bar 4505A can retract the first clamping member 4510A from the first notch 4207A or the second notch 4207B to release the needle 4201 from the first clamping slot 4103. By Petition 870250100843, dated 04 / 11 / 2025, page 215 / 547 207 / 416 example, the first control bar 4505A can be pulled away from the first clamping slot 4103. In this way, the movement of the first control bar 4505A can cause the first clamping member 4510A to release the first notch 4207A or the second notch 4207B to release the needle 4201 from the first clamping slot 4103.

[00288] In some embodiments, the second control bar 4505B can advance the second clamping member 4510B toward the first notch 4207A or the second notch 4207B of the needle 4201 disposed in the second clamping slot 4104 to hold the needle 4201 in the second clamping slot 4104. For example, the second control bar 4505B can be pushed toward the second clamping slot 4104. In this way, the movement of the second control bar 4505B can cause the second clamping member 4510B to hold the first notch 4207A or the second notch 4207B of the needle 4201 to hold the needle 4201 in the second clamping slot 4104.

[00289] In some embodiments, the second control bar 4505B can retract the second clamping member 4510B from the first notch 4207A or the second notch 4207B to release the needle 4201 from the second clamping slot 4104. For example, the second control bar 4505B can be pulled away from the second clamping slot 4104. In this way, the movement of the second control bar 4505B can cause Petition 870250100843, dated 04 / 11 / 2025, page 216 / 547 208 / 416 that the second clamping member 4510B releases the first notch 4207A or the second notch 4207B to release the needle 4201 from the second clamping slot 4104. In some embodiments, the control bars or clamping members have different lengths. For example, the first clamping member 4510A or the first control bar 4505A may be longer than the second clamping member 4510B or the second control bar 4505B because they must extend a greater distance to reach the first clamping slot 4103. In another example, the second clamping member 4510B or the second control bar 4505B may be longer than the first clamping member 4510A or the first control bar 4505A because they must be able to bend with the movable jaw 4006 comprising the second clamping slot 4104.

[00290] Lever 4003 can move to the first position 4110A to move the switching joint 4106 so as to advance the first control bar 4505A to advance the first clamping member 4510A to hold the needle 4201 in the first clamping slot 4103 and retract the second control bar 4505B to retract the second clamping member 4510B to release the needle 4201 from the second clamping slot 4104. For example, as shown in Figure 33J, lever 4003 can rotate the switching joint 4106 counterclockwise to move to the first position 4110A. In Petition 870250100843, dated 04 / 11 / 2025, page 217 / 547 209 / 416 In some embodiments, lever 4003 can move to the first position 4110A to move the switching joint 4106 in order to advance the first control bar 4505A to advance the first clamping member 4510A to hold the needle 4201 in the first clamping slot 4103. For example, as shown in Figure 33J, when moving lever 4003 to the first position 4110A, the switching joint 4106 can be rotated counterclockwise, which can advance the first control bar 4505A to the left and retract the second control bar 4505B to the right, so that the first control bar 4505A causes the first clamping member 4510A to hold the needle 4201 in the first clamping slot 4103 and the second control bar 4505B causes the second clamping member 4510B release needle 4201 from the second clamping slot 4104.The lever 4003 may include the safety notch 4515A of the suture device 4001 to keep the lever 4003 in the first position 4110A so that the lever 4003 is not accidentally moved to a different position during use (e.g., during surgery).

[00291] Lever 4003 can move to the second position 4110B to move the switching joint 4106 in order to retract the first control bar 4505A to retract the first clamping member 4510A to release the needle 4201 from the first clamping slot 4103 and to retract the second Petition 870250100843, dated 04 / 11 / 2025, page 218 / 547 210 / 416 control bar 4505B to retract the second clamping member 4510B to release the needle 4201 from the second clamping slot 4104. In some embodiments, the lever 4003 can move to the second position 4110B to move the switching joint 4106 in order to retract the first control bar 4505A to retract the first clamping member 4510A to release the needle 4201 from the first clamping slot 4103.

[00292] For example, as shown in Figure 33J, if lever 4003 is moved to the second position 4110B from the first position 4110A, the switching joint 4106 can be rotated clockwise, which can partially retract the first control bar 4505A to the right and partially advance the second control bar 4505B to the left, so that the first control bar 4505A and the second control bar 4505B are in an inactive position that prevents the first clamping slot 4103 and the second clamping slot 4104 from holding the needle 4201.

[00293] In another example, as shown in Figure 33J, if lever 4003 is moved to the second position 4110B from the third position 4110C, the switching joint 4106 can be rotated counterclockwise, which can partially advance the first control rod 4505A to the left and partially retract the second control rod 4505B to the right, so that the first Petition 870250100843, dated 04 / 11 / 2025, page 219 / 547 211 / 416 control bar 4505A and the second control bar 4505B remain in an inactive position which prevents the first clamping slot 4103 and the second clamping slot 4104 from holding the needle 4201. The lever 4003 may include the safety notch 4515B of the suture device 4001 to keep the lever 4003 in the second position 4110B so that the lever 4003 is not accidentally moved to a different position during use (e.g., during surgery).

[00294] Lever 4003 can move to the third position 4110C to move the switching joint 4106 in order to advance the second control bar 4505B to advance the second clamping member 4510B to hold the needle 4201 in the second clamping slot 4104 and retract the first control bar 4505A to retract the first clamping member 4510A to release the needle from the first clamping slot 4103. In some embodiments, lever 4003 can move to the third position 4110C to move the switching joint 4106 in order to advance the second control bar 4505B to advance the second clamping member 4510B to hold the needle in the second clamping slot 4104. For example, as shown in Figure 33J, by moving lever 4003 to the third position 4110C from the second position 4110B, the switching joint 4106 can be rotated clockwise, which can retract the first control bar 4505A to the right and advance the second control bar 4505B to Petition 870250100843, dated 04 / 11 / 2025, p. 220 / 547 212 / 416 to the left, so that the first control bar 4505A causes the first clamping member 4510A to release the needle 4201 from the first clamping slot 4103 and the second control bar 4505B causes the second clamping member 4510B to hold the needle 4201 in the second clamping slot 4104. The lever 4003 may include the safety notch 4515C of the suture device 4001 to hold the lever 4003 in the third position 4110C so that the lever 4003 is not accidentally moved to a different position during use (e.g., during surgery). In some embodiments, a lever having a first and a second indicator may be used instead of the three indicators described above. For example, a lever may include only the 4110A position and the 4110C position.In all lever positions between positions 4110A and 4110C, the needle will remain held in both clamping slots and the limiter will not allow the needle to be transferred between jaws unless the handles are fully closed. It will be understood that any number of positions for the lever may be used. In some embodiments, the stop may be optional.

[00295] Referring now to Figures 33N, 33O and 33P, in some embodiments, the needle transfer mechanism 4004 includes a cable 4019A, a cable 4019B, a spring 4021A and a spring 4021B. Cable 4019A and cable 4019B may Petition 870250100843, dated 04 / 11 / 2025, p. 221 / 547 213 / 416 are fixed to lever 4003 with pin 4025A and pin 4025B at the end of cable 4019A and cable 4019B. In some embodiments, cable 4019A and cable 4019B extend into respective channels in the fixed arm 4007. In some embodiments, cable 4019A extends into a channel in the fixed jaw 4005. In some embodiments, cable 4019B extends into a channel in the movable jaw 4006. In some embodiments, spring 4021A is located inside the fixed jaw 4005. In some embodiments, spring 4021A is located inside the movable jaw 4005.

[00296] The lever 4003 can be rotated along the switching joint 4106. There can be 3 distinct positions in which the lever 4003 can be rotated. The lever 4003 can be designed so that a predetermined amount of force applied by the user is required to change the positions of the lever 4003. In some embodiments, the predetermined amount of force applied by the user is based on the tension of cable 4019A and cable 4019B. The geometric characteristics 4027A, 4027B, 4031A, 4031B, 4029A and 4029B of the fixed arm 4007 can be used to guide cable 4019A and cable 4019B in an optimal path. Spring 4021A and spring 4021B can be positioned on cylindrical piston 4023A and cylindrical piston 4023B and held in place by machine elements (for example, machine element 4033B holds spring 4021B), which may include rings, Petition 870250100843, dated 04 / 11 / 2025, page 222 / 547 214 / 416 pins etc. or structural features, such as protrusions. In some embodiments, the cylindrical piston 4023A is located inside the fixed jaw 4005. In some embodiments, the cylindrical piston 4023B is located inside the movable jaw 4006.

[00297] In some embodiments, a proximal end (e.g., proximal to the operator) of pistons 4023A and 4023B is attached to cables 4019A and 4019B, respectively. In some embodiments, a distal end of pistons 4023A and 4023B may be designed and shaped to engage and hold the needle 4201. In some embodiments, the distal end of piston 4023A may be advanced to engage and hold the needle 4201 in the fixed jaw 4005. In some embodiments, the distal end of piston 4023A may be retracted to disengage and release the needle 4201 in the fixed jaw 4005. In some embodiments, the distal end of piston 4023B may be advanced to engage and hold the needle 4201 in the movable jaw 4006. In some embodiments, the distal end of piston 4023B may be retracted to disengage and release the needle 4201 in the movable jaw 4006.

[00298] In some embodiments, lever 4003 may be in an intermediate position (e.g., similar to the second position 4110B), as shown in Figure 33N and Figure 33O. In the intermediate position, both cables 4019A Petition 870250100843, dated 04 / 11 / 2025, p. 223 / 547 215 / 416 and 4019B can be semi-tensioned, both springs 4021A and 4021B can be semi-compressed, and both pistons 4023A and 4023B can be semi-retracted. In some embodiments, when pistons 4023A and 4023B are semi-retracted, pistons 4023A and 4023B are disengaged from needle 4201 so that needle 4201 can be released from both fixed jaw 4005 and movable jaw 4006. In some embodiments, when pistons 4023A and 4023B are semi-retracted, pistons 4023A and 4023B engage needle 4201 so that needle 4201 is held in both fixed jaw 4005 and movable jaw 4006. In some embodiments, with jaws 4005 and 4006 in the closed position (e.g., movable jaw 4006 moved toward fixed jaw 4005), needle 4201 can be retained by both jaws. 4005 and 4006 and the suture device (e.g., device 4001A or 4001B) can be locked.

[00299] In some embodiments, lever 4003 may be in a forward position (for example, similar to the first position 4110A). In the forward position, lever 4003 may cause spring 4021A corresponding to the fixed jaw 4005 to be fully released by cable 4019A, which may cause piston 4023A to move forward by the force of the spring, and needle 4201 may be retained in the fixed jaw 4005. At the same time, lever 4003 may cause spring 4021B corresponding to the movable jaw 4006 to be Petition 870250100843, dated 04 / 11 / 2025, p. 224 / 547 216 / 416 pulled by cable 4019B and fully compressed, which may cause piston 4023B to be pulled by cable 4019B, and needle 4201 to be released from movable jaw 4006.

[00300] In some embodiments, lever 4003 may be in a rear position (for example, similar to the third position 4110C). In the rear position, lever 4003 may cause spring 4021B corresponding to movable jaw 4006 to be fully released by cable 4019B, which may cause piston 4023B to move forward by the force of the spring, and needle 4201 to be retained by movable jaw 4006. At the same time, lever 4003 may cause spring 4021A corresponding to fixed jaw 4005 to be pulled by cable 4019A and fully compressed, which may cause piston 4023A to be pulled by cable 4019A, and needle 4201 to be released from fixed jaw 4005.

[00301] Figure 34A, Figure 34B, and Figure 34C show an embodiment of the suture device 4001A including the stop 4605 in an activated position. In terms of safety, if the movable jaw 4006 moves when the lever 4003 is in the second position 4110B, the needle 4201 may fall because the needle 4201 is not secured in either the first clamping slot 4103 or the second clamping slot 4104. To solve this problem, the suture device 4001A includes the stop 4605 to control, based on the Petition 870250100843, dated 04 / 11 / 2025, page 225 / 547 217 / 416 lever position 4003, when the movable arm 4008 can move and therefore when the movable jaw 4006 can move. For example, the stop 4605 can physically prevent the movable arm 4008 from moving to prevent the needle 4201 from falling.

[00302] As shown in Figure 34A and Figure 34B, the stop 4605 can be arranged on the movable arm 4008 to control when the movable arm 4008 can move relative to the fixed arm 4007. For example, the stop 4605 can hold or lock the fixed arm 4007 to prevent the movable arm 4008 from moving and thus prevent the needle 4201 from falling. The stop 4605 can be arranged on the movable arm 4008 and adjacent to the lever 4003 on the fixed arm 4007 to control the movable arm 4008 based on the position of the lever 4003. In some embodiments, the stop 4605 is covered by a cap 4606 to protect the stop 4605.

[00303] The stop 4605 can slide on the movable arm 4008 between an activated and a deactivated position. The stop 4605 can control the movement of the movable arm 4008 when the stop 4605 is in the activated position. In the activated position, the stop 4605 can be positioned closer to the movable arm 4008 to be adjacent to the fixed arm 4007, in order to hold a part of the fixed arm 4007 and control the movement of the movable arm 4008 relative to the fixed arm 4007.

[00304] The 4605 stop can slide on the movable arm. Petition 870250100843, dated 04 / 11 / 2025, page 226 / 547 218 / 416 4008 from the activated position to the deactivated position, in which the stop 4605 does not control the movement of the movable arm 4008. For example, the stop 4605 may be a plastic or metal cover that slides on the movable arm 4008. In the deactivated position, the stop 4605 may be positioned further away from the movable arm 4008 to avoid holding the fixed arm 4007 and thus avoid controlling the movement of the movable arm 4008 relative to the fixed arm 4007. The stop 4605 may slide on the movable arm 4008 towards the fixed arm 4007 and to the activated position in order to hold the fixed arm 4007 and control the movable arm 4008.

[00305] As shown in Figure 34B and Figure 34C, the stop 4605 may include a tab 4607 to secure the stop 4605 in the activated position. For example, the tab 4607 may be a foldable extension of the stop 4605. The tab 4607 may be fitted over an edge of the movable arm 4008 to secure the stop 4605 in the activated position. The tab 4607 may fold away from the movable arm 4008 to release the stop 4605 from the activated position. As shown in Figure 34C, the operator may fold the tab 4607 to release the stop 4605 from the activated position.

[00306] Figure 35A and Figure 35B show an embodiment of the suture device 4001A including the stop 4605 in the activated position and a safety member 4610 preventing movement of the movable arm 4008 and the movable jaw. Petition 870250100843, dated 04 / 11 / 2025, pp. 227 / 547 219 / 416 4006 when needle 4201 is not engaged because lever 4003 is in the second position 4110B. In some embodiments, Figure 35A shows a cross-sectional view of stop 4605 without cover 4606. In some embodiments, stop 4605 does not have a cover.

[00307] As the stop 4605 is arranged on the movable arm 4008, the stop 4605 would move when the movable arm 4008 moved. As the safety member 4610 is arranged on the fixed arm 4007, the stop 4605 would move relative to the safety member 4610 when the movable arm 4008 moved. Locking the safety member 4610 and the stop 4605 would therefore prevent the stop 4605 from moving and thus prevent the movable arm 4008 from moving to prevent the needle 4201 from falling.

[00308] The safety member 4610 and the stop 4605 can lock if the stop 4605 projects against the safety member 4610. In the activated position, the stop 4605 is positioned to lock with the safety member 4610. For example, the stop 4605 can block or hold the safety member 4610. In some embodiments, when the lever 4003 is in the second position 4110B (e.g., needle 4201 not clamped) and the jaws are closed, the stop 4605 and the safety member 4610 interlock to prevent the movable jaw from opening. In some embodiments, when the lever 4003 is in the first position 4110A or the third position Petition 870250100843, dated 04 / 11 / 2025, pp. 228 / 547 220 / 416 position 4110C (needle 4201 is locked) and the jaws are open, the stop 4605 and the safety member 4610 can interlock to prevent the lever 4003 from moving to the second position 4110B to release the needle 4201.

[00309] When positioning the stop 4605 and the safety member 4610 to interlock when the lever 4003 is in the second position 4110B and the jaws are closed, the needle 4201 would not fall when it is not clamped in either the first clamping slot 4103 or the second clamping slot 4104, but the movable arm 4008 could move when the needle 4201 was clamped in one of the two clamping slots 4103 or 4104. The safety member 4610 and the stop 4605 can interlock because the stop 4605 in the activated position projects against the safety member 4610 when the lever 4003 is in the second position 4110B. When projected against the stop 4605, the safety member 4610 prevents the movable arm 4008 and therefore the movable jaw 4006 from moving when the lever 4003 is in the second position 4110B, to prevent the needle 4201 from falling.

[00310] To position the stop 4605 and the safety member 4610 so that they interlock based on the position of lever 4003, the safety member 4610 can be arranged on the second control bar 4505B. Since lever 4003 moves the second control bar 4505B, the position of lever 4003 determines the position of the safety member. Petition 870250100843, dated 04 / 11 / 2025, page 229 / 547 221 / 416 4610. The lever 4003 in the second position 4110B causes the safety member 4610 to be in the safety position 4112A, so that the safety member 4610 interlocks with the stop 4605 to prevent the movable arm 4008 from moving relative to the fixed arm 4007, in order to prevent the needle 4201 from falling.

[00311] As shown in Figure 36A and Figure 36B, an embodiment of the suture device 4001A is shown including the stop 4605 in the activated position and the safety member 4610 allowing movement of the movable arm 4008 and the movable jaw 4006 when the needle 4201 is clamped in the first clamping slot 4103. The lever 4003 in the first position 4110A causes the safety member 4610 to be in the safety position 4112B, which would allow the safety member 4610 to bypass the stop 4605 so that the movable arm 4008 could move.

[00312] Figure 36B shows the movable arm 4008 moving when the lever 4003 is in the first position 4110A. In the activated position, when the movable arm 4008 and the movable jaw 4006 are open, the stop 4605 can prevent the lever 4003 from moving to the second position 4110B (in which the needle 4201 is not attached) from the first position 4110A (in which the needle 4201 is attached), to prevent the needle 4201 from falling.

[00313] Figure 36C and Figure 36D show a Petitio...

Claims

CLAIMS 1. A suturing device, characterized in that it comprises: a first jaw comprising a first clamping slot configured to receive a needle; a second jaw comprising a second clamping slot configured to receive the needle; and a needle transfer mechanism comprising: a first clamping member positioned in the first jaw and selectively extendable in the first clamping slot; a first thread coupled to the first clamping member, wherein the first thread is configured to change length in response to the electric current supplied by the first thread; a second clamping member positioned in the second jaw; and a second thread coupled to the second clamping member, wherein the second thread is configured to change length in response to the electric current supplied by the second thread, wherein: the first clamping member is configured to couple in a removable manner to the needle;and the second clamping member is configured to attach removablely to the needle. Petition 870250100841, dated 04 / 11 / 2025, page 10 / 59 2 / 49; 2. Suturing system, characterized in that it comprises: a device comprising: a first jaw comprising a first clamping slot configured to receive a needle; a second jaw comprising a second clamping slot configured to receive the needle; and a needle transfer mechanism comprising: a first clamping member positioned in the first jaw; a first thread coupled to the first clamping member, wherein the first thread is configured to change length in response to the electric current supplied through the first thread; a second clamping member positioned in the second jaw; and a second thread coupled to the second clamping member, wherein the second thread is configured to change length in response to the electric current supplied through the second thread, wherein: the first clamping member is configured to couple in a removable manner to the needle;and the second clamping member is configured to attach removablely to the needle; and a power source coupled to the first wire and to the second wire and configured to supply electrical current to the first wire and to the second wire.

3. Method, characterized in that it comprises: opening a second jaw of a suturing device relative to a first jaw of the suturing device, wherein: the first jaw comprises a first clamping slot configured to receive a needle and a first clamping member configured to removablely engage the needle to retain the needle in the first clamping slot; the second jaw comprises a second clamping slot configured to receive the needle and a second clamping member configured to removablely engage the needle to retain the needle in the second clamping slot; and the needle is engaged to the first clamping member and retained in the first clamping slot of the first jaw; closing the second jaw relative to the first jaw, optionally wherein the device is positioned so that a target tissue is between the first jaw and the second jaw before closing the second jaw;and transfer the needle from the first clamping slot of the first jaw to the second clamping slot of the second jaw, wherein transferring the needle comprises: Petition 870250100841, dated 04 / 11 / 2025, page 12 / 59 4 / 49 supplying an electric current to a first wire coupled to the first clamping member to change a length of the first wire and decouple the first clamping member from the needle.; 4. Transfer mechanism for a suturing device, characterized in that it comprises: a thread, wherein: the thread is coupled to a needle; the thread is coupled to a power source configured to supply an electric current through the thread; the thread is configured to change length in response to the supply of electric current through the thread; and the thread is configured to move the needle from a first position to a second position when electric current is supplied by the thread.

5. Transfer mechanism, according to claim 4, characterized in that it further comprises a potential energy member, wherein: the potential energy member is configured to transition between a first configuration and a second configuration; and the potential energy member is configured to move the needle from the second position to the first position when the potential energy member transitions from the second configuration to the first configuration.

6. Transfer mechanism for a suturing device, characterized in that it comprises: a thread, wherein: the thread is coupled to a gripping member; the thread is coupled to a power source configured to supply an electric current through the thread; the thread is configured to change length in response to the supply of electric current through the thread; and the thread is configured to move the gripping member from a first position to a second position when electric current is supplied by the thread, wherein: the gripping member is configured to couple to a needle in the first position; and the gripping member is configured to discouple from the needle in the second position.

7. Transfer mechanism, according to claim 6, characterized in that it further comprises a potential energy member, wherein: the potential energy member is configured to transition between a first configuration and a second configuration; and the potential energy member is configured to move the clamping member from the second position to the first position when the potential energy member transitions from the second configuration to the first configuration.

8. Suturing device, characterized in that it comprises: a needle transfer mechanism; and a fiber optic camera comprising an optical wire extending through the suturing device, wherein the fiber optic camera is configured to generate image data from an operational location of the suturing device.

9. Suturing device, characterized in that it comprises: a needle transfer mechanism; and an electric field sensor positioned on a surface of the suturing device and configured to locate nerves within and around an operating site of the suturing device.

10. Suturing device, characterized in that it comprises: a first jaw comprising a first clamping slot configured to receive a needle; a second jaw comprising a second clamping slot configured to receive the needle; and a piezoelectric film positioned on a surface of at least one of the first jaws or the second jaw, wherein the piezoelectric film is configured to vibrate at least one of the first jaws or the second jaw.

11. Suturing device, characterized in that it comprises: an elongated body; a needle; and a needle transfer mechanism comprising a thread coupled to the needle and coupled to a power source, wherein: the thread is configured to change length in response to the supply of electric current through the thread; and the thread is configured to move the needle when electric current is supplied through the thread.

12. Suturing device, characterized in that it comprises: a fixed arm formed in a single piece with a fixed jaw comprising a first clamping slot configured to receive a needle; a movable jaw movably coupled to a movable arm comprising a second clamping slot configured to receive the needle, the movable jaw configured to rotate around a reference body on the fixed arm and in relation to the fixed jaw; and a needle transfer mechanism comprising: Petition 870250100841, dated 04 / 11 / 2025, page.16 / 59 8 / 49 a first clamping member configured to fix the needle in the first clamping slot and release the needle from the first clamping slot, the first clamping member configured to selectively engage the needle while the needle is positioned in the first clamping slot; a first wire coupled to the first clamping member, wherein the first wire is configured to change length in response to the electric current supplied by the first wire; a second clamping member configured to fix the needle in the second clamping slot and release the needle from the second clamping slot, the first clamping member configured to selectively engage the needle while the needle is positioned in the first clamping slot; and a second wire coupled to the second clamping member, wherein the second wire is configured to change length in response to the electric current supplied by the second wire.

13. Suturing device, according to claim 12, characterized in that the fixed arm further comprises an arm joint coupled to the movable arm, and wherein the movable arm is configured to rotate around the arm joint and relative to the fixed arm.

14. Suturing device, according to claim 13, characterized in that the fixed arm further comprises a jaw joint located in the body of Petition 870250100841, dated 04 / 11 / 2025, page 17 / 59 9 / 49 reference, wherein the jaw joint is coupled to the movable jaw, and wherein the movable jaw is configured to rotate around the jaw joint and relative to the fixed jaw.

15. Suturing device, according to claim 14, characterized in that the suturing device further comprises a connecting joint configured to link the movable arm and the movable jaw, wherein the movable arm is configured to move the connecting joint to cause the movable jaw to rotate around the jaw joint.

16. Suturing device, characterized in that it comprises: a fixed arm formed in one piece with a fixed jaw comprising a first clamping slot configured to receive a needle; a movable jaw movably coupled to a movable arm comprising a second clamping slot configured to receive the needle, the movable jaw configured to rotate around a reference body on the fixed arm and relative to the fixed jaw; and a needle transfer mechanism comprising a first and second wire configured to fix the needle in the first clamping slot or in the second clamping slot, wherein the first and second wires are configured to: Petition 870250100841, dated 04 / 11 / 2025, page 18 / 59 10 / 49 change length in response to the electric current supplied by the first and second wires, respectively; and control the first and second clamping members to retain and release the needle from the first and second clamping slots.

17. Suturing device, characterized in that it comprises: a needle configured to include a channel for the passage of a suture through it; a fixed arm integrated with a fixed jaw comprising a first clamping slot configured to receive the needle; a movable jaw movably coupled to a movable arm comprising a second clamping slot configured to receive the needle, the movable jaw configured to rotate around a reference body on the fixed arm and relative to the fixed jaw;and a needle transfer mechanism comprising a first and second needle gripping member configured to grip the needle in the first gripping slot or the second gripping slot, the first and second needle gripping members being coupled to the first and second wires and configured to engage one or more features on the needle to selectively retain and release the needle from the first and second gripping slots in response to the electric current supplied by the first and second wires.

18. Suturing device, characterized in that it comprises: a first jaw comprising a first gripping slot configured to receive a needle; a second jaw comprising a second gripping slot configured to receive the needle; and a needle transfer mechanism comprising: a first gripping member positioned in the first jaw and selectively extendable in the first gripping slot; a first thread coupled to the first gripping member, wherein the first thread is configured to change length in response to the electric current supplied by the first thread; a first potential energy member, wherein the first potential energy member is configured to transition between a first configuration and a second configuration to apply a force on the first gripping member; a second gripping member positioned in the second jaw;a second wire coupled to the second clamping member, wherein the second wire is configured to change length in response to the electric current supplied by the second wire; Petition 870250100841, dated 04 / 11 / 2025, page 20 / 59 12 / 49 and a second potential energy member, wherein the second potential energy member is configured to transition between a first configuration and a second configuration to apply a force on the second clamping member, wherein: the first clamping member is configured to couple in a removable manner to the needle; and the second clamping member is configured to couple in a removable manner to the needle.

19. Suturing device, characterized in that it comprises: a fixed arm formed in one piece with a fixed jaw comprising a first clamping slot configured to receive a needle; a movable jaw movably coupled to a movable arm comprising a second clamping slot configured to receive the needle, the movable jaw configured to rotate around a reference body on the fixed arm and relative to the fixed jaw; and a needle transfer mechanism comprising: a first clamping member configured to fix the needle in the first clamping slot and release the needle from the first clamping slot, the first clamping member configured to selectively engage the needle while the needle is positioned in the first clamping slot;a first wire coupled to the first gripping member, wherein the first wire is configured to change length in response to the electric current supplied by the first wire; a first potential energy member, wherein the first potential energy member is configured to transition between a first configuration and a second configuration to apply a force on the first gripping member; a second gripping member configured to fix the needle in the second gripping slot and release the needle from the second gripping slot, the first gripping member configured to selectively engage the needle while the needle is positioned in the first gripping slot; a second wire coupled to the second gripping member, wherein the second wire is configured to change length in response to the electric current supplied through the second wire;and a second potential energy member, wherein the second potential energy member is configured to transition between a first configuration and a second configuration to apply a force on the second clamping member.

20. Suturing device, characterized in that it comprises: Petition 870250100841, dated 04 / 11 / 2025, page 22 / 59 14 / 49 an elongated body; a fixed jaw body extending from the elongated body and comprising a linear guide; a fixed jaw coupled in a fixed manner to the fixed jaw body and extending from the fixed jaw body; a movable jaw coupled to the fixed jaw body in the linear guide and configured to move linearly relative to the fixed jaw in the linear guide; and a drive mechanism, comprising: a wire configured to move the movable jaw along the linear guide, wherein the wire is configured to change length in response to the electric current supplied by the wire.

21. Suturing device, according to claim 20, characterized in that the drive mechanism further comprises: a potential energy member, wherein: the thread is configured to move the movable jaw along the linear guide in a first direction; and the potential energy member is configured to move the movable jaw along the linear guide in a second direction opposite to the first direction.

22. Suturing device, characterized in that it comprises: Petition 870250100841, dated 04 / 11 / 2025, page 23 / 59 15 / 49 an elongated body; a fixed jaw body extending from the elongated body and comprising a jaw joint; a fixed jaw coupled in a fixed manner to the fixed jaw body and extending from the fixed jaw body; a movable jaw coupled to the fixed jaw body and configured to rotate relative to the fixed jaw around the jaw joint; and a drive mechanism, comprising: a wire configured to rotate the movable jaw around the jaw joint, wherein the wire is configured to change length in response to the electric current supplied by the wire.

23. Suturing device, according to claim 22, characterized in that the drive mechanism further comprises: a potential energy member, wherein: the thread is configured to rotate the movable jaw around the jaw joint in a first direction; and the potential energy member is configured to rotate the movable jaw around the jaw joint in a second direction opposite to the first direction.

24. Suturing device, characterized in that it comprises: Petition 870250100841, dated 04 / 11 / 2025, page 24 / 59 16 / 49 a needle; a first needle retention member comprising a first orifice configured to receive the needle; a second needle retention member in alignment with the first needle retention member comprising a second orifice configured to receive the needle; and a needle transfer mechanism positioned at least partially within the first needle retention member, comprising: a thread coupled to the needle, wherein: the thread is configured to change length in response to the electric current supplied by the thread; and the needle transfer mechanism is configured to move the needle from the first orifice of the first needle retention member to the second orifice of the second needle retention member.

25. Suturing device, according to claim 24, characterized in that the first needle retention member and the second needle retention member are fixed to each other.

26. Suturing device, characterized in that it comprises: a first jaw comprising a first clamping slot configured to receive a needle; a second jaw comprising a second clamping slot configured to receive the needle, wherein the second jaw is movable relative to the first jaw; and a needle transfer mechanism configured to clamp the needle in the first clamping slot or in the second clamping slot and to release the needle from the first clamping slot or in the second clamping slot, wherein the needle transfer mechanism comprises a wire configured to change length in response to the electric current supplied by the wire.

27. Suturing device, according to any one of claims 24 to 26, characterized in that the needle transfer mechanism comprises: a first clamping member positioned in the first jaw and selectively extensible in the first clamping slot; a first thread coupled to the first clamping member, wherein the first thread is configured to change length in response to the electric current supplied by the first thread; a second clamping member positioned in the second jaw and selectively extensible in the second clamping slot; and a second thread coupled to the second clamping member, wherein the second thread is configured to change length in response to the electric current supplied by the second thread, Petition 870250100841, dated 04 / 11 / 2025, p.26 / 59 18 / 49 wherein: the first clamping member is configured to attach removablely to the needle; and the second clamping member is configured to attach removablely to the needle.

28. Suturing device, according to any one of claims 24 to 27, characterized in that the first thread is configured to move the first clamping member from a first position to a second position when electric current is supplied by the thread, wherein: the first clamping member is configured to engage with the needle in the first position; and the first clamping member is configured to disengage from the needle in the second position.

29. Suturing device, according to any one of claims 24 to 28, characterized in that it further comprises a first potential energy member, wherein: the first potential energy member is configured to transition between a first configuration and a second configuration; and the first potential energy member is configured to move the first clamping member from the second position to the first position when the first potential energy member transitions from the second configuration to the first configuration.

30. Suturing device, according to any one of claims 24 to 29, characterized in that the second thread is configured to move the second clamping member from a first position to a second position when electric current is supplied by the thread, wherein: the second clamping member is configured to engage with the needle in the first position; and the second clamping member is configured to disengage from the needle in the second position.

31. Suturing device, according to any one of claims 24 to 30, characterized in that it further comprises a second potential energy member, wherein: the second potential energy member is configured to transition between a first configuration and a second configuration; and the second potential energy member is configured to move the second clamping member from the second position to the first position when the second potential energy member transitions from the second configuration to the first configuration.

32. Suturing device, according to any one of claims 24 to 31, characterized in that it further comprises an input, wherein the input, when activated once, is configured to cause a power source coupled to the first wire and the second wire to de-energize the first wire and energize the second wire.

33. Suturing device, according to any one of claims 24 to 32, characterized in that it further comprises an input, wherein the input, when actuated once, is configured to cause the power source coupled to the first thread and the second thread to de-energize the second thread and energize the first thread.

34. Suturing device, according to any one of claims 24 to 33, characterized in that it further comprises an input, wherein the input, when actuated once, is configured to cause a power source coupled to the first thread and the second thread to: de-energize one of the first threads or the second thread coupled to one of the first clamping member or the second clamping member not coupled to the needle before the input is actuated; and energize one of the first threads or the second thread coupled to one of the first clamping member coupled to the needle before the input is actuated.

35. Suturing device, according to any one of claims 24 to 34, characterized in that it further comprises a first input and a second input, wherein: the first input, when activated once, is configured to cause a power source coupled to the first wire and to the second wire to de-energize the first wire and to energize the second wire; and the second input, when activated once, is configured to cause the power source coupled to the first wire and to the second wire to de-energize the second wire and to energize the first wire.

36. Suturing device, according to any one of claims 24 to 35, characterized in that it further comprises: a first loop; a second loop; and a force sensor, wherein: the force sensor is configured to detect the contact and closing force between the first loop and the second loop as the first loop and the second loop are closed; and the force sensor, upon detecting a limit force, is configured to cause a power source coupled to the first thread and the second thread to de-energize the first thread and energize the second thread.

37. Suturing device, according to any one of claims 24 to 36, characterized in that Petition 870250100841, dated 04 / 11 / 2025, page 30 / 59 22 / 49 the force sensor, upon detecting the limit force, is configured to cause the power source to de-energize the second thread and energize the first thread.

38. Suturing device, according to any one of claims 24 to 37, characterized in that it further comprises: a first loop; a second loop; and a force sensor, wherein: the force sensor is configured to detect the contact and closing force between the first loop and the second loop as the first loop and the second loop are closed; the force sensor, upon detecting a limit force, is configured to cause a power source coupled to the first thread and the second thread to de-energize one of the first threads or the second thread coupled to one of the first clamping member or the second clamping member not coupled to the needle before the limit force is detected;and the force sensor, upon detecting the limit force, is configured to cause the power source coupled to the first wire and the second wire to energize one of the first wires or the second wire coupled to one of the first clamping member or the second clamping member coupled to the needle before the limit force is detected. Petition 870250100841, dated 04 / 11 / 2025, pp. 31 / 59 23 / 49; 39. Suturing device, according to any one of claims 24 to 38, characterized in that it further comprises: a fixed arm formed in one piece with the first jaw; and a movable arm movably coupled to the second jaw, the second jaw being configured to rotate around a reference body on the fixed arm and relative to the fixed jaw.

40. Suturing device, according to claims 24 to 39, characterized in that the fixed arm further comprises an arm joint coupled to the movable arm, and wherein the movable arm is configured to rotate around the arm joint and relative to the fixed arm.

41. Suturing device, according to any one of claims 24 to 40, characterized in that the fixed arm further comprises a jaw joint located on the reference body, wherein the jaw joint is coupled to the second jaw, and wherein the second jaw is configured to rotate around the jaw joint and relative to the first jaw.

42. Suturing device, according to any one of claims 24 to 41, characterized in that the suturing device further comprises a connecting joint configured to link the movable arm and the second jaw, wherein the movable arm is configured to move the connecting joint to cause the second jaw to rotate around the jaw joint.

43. Suturing device, according to any one of claims 24 to 42, characterized in that it further comprises: a fixed jaw body comprising a linear guide; the first jaw fixedly coupled to the fixed jaw body and extending from the fixed jaw body; the second jaw coupled to the fixed jaw body on the linear guide and configured to move linearly relative to the first jaw on the linear guide; and a drive mechanism comprising: a wire configured to move the second jaw along the linear guide, wherein the wire is configured to change length in response to the electric current supplied by the wire.

44. Suturing device, according to any one of claims 24 to 43, characterized in that the drive mechanism further comprises: a potential energy member, wherein: the thread is configured to move the second jaw along the linear guide in a first direction; and the potential energy member is configured to move the second jaw along the linear guide in a second direction opposite to the first direction.

45. Suturing device, according to any one of claims 24 to 44, characterized in that it further comprises: a fixed jaw body comprising a jaw joint; the first jaw fixedly coupled to the fixed jaw body and extending from the fixed jaw body; the second jaw coupled to the fixed jaw body and configured to rotate relative to the fixed jaw around the jaw joint; and a drive mechanism comprising: a wire configured to rotate the second jaw around the jaw joint, wherein the wire is configured to change length in response to electric current supplied by the wire.

46. ​​Suturing device, according to any one of claims 24 to 45, characterized in that the drive mechanism further comprises: a potential energy member, wherein: the thread is configured to rotate the second jaw around the jaw joint in a first direction; and the potential energy member is configured to rotate the second jaw around the jaw joint in a second direction opposite to the first direction.

47. Suturing device, according to any one of claims 24 to 46, characterized in that it further comprises: a fixed arm formed in one piece with the first jaw; a first handle coupled to a proximal end of the fixed arm; a movable arm movably coupled to the second jaw, the second jaw being configured to rotate around a reference body on the fixed arm and relative to the fixed jaw; and a second handle coupled to a proximal end of the movable arm.

48. Suturing device, according to any one of claims 24 to 47, characterized in that it additionally comprises a single loop.

49. Suturing device, according to any one of claims 1 to 48, characterized in that it further comprises: a fiber optic camera comprising an optical wire extending through the suturing device, wherein the fiber optic camera is configured to generate image data from an operational location of the suturing device. Petition 870250100841, dated 04 / 11 / 2025, pp. 35 / 59 27 / 49 50. Suturing device, according to any one of claims 1 to 49, characterized in that it further comprises: an electric field sensor positioned on a surface of the suturing device and configured to locate nerves within and around an operating site of the suturing device.

51. Suturing device, according to any one of claims 1 to 49, characterized in that it further comprises a piezoelectric film positioned on a surface of at least one of the first or second jaws, wherein the piezoelectric film is configured to vibrate at least one of the first or second jaws.

52. Suturing device, characterized in that it comprises: a fixed arm formed in one piece with a fixed jaw comprising a first clamping slot configured to receive a needle; a movable jaw movably coupled to a movable arm comprising a second clamping slot configured to receive the needle, the movable jaw configured to rotate around a reference body on the fixed arm and in relation to the fixed jaw; a needle transfer mechanism comprising Petition 870250100841, dated 04 / 11 / 2025, page.36 / 59 28 / 49 a first and second plate configured to clamp the needle in the first clamping slot or the second clamping slot and release the needle from the first clamping slot or the second clamping slot, the first and second plates being configured to selectively engage the needle while the needle is positioned in the first clamping slot or the second clamping slot; and at least one of a fiber optic camera, an electric field sensor, or a piezoelectric film.

53. Suturing device according to claim 52, characterized in that: the first plate comprises a first control bar configured to advance a first gripping member toward a first needle receptacle disposed in the first gripping slot to hold the needle in the first gripping slot or to retract the first gripping member from the first receptacle to release the needle from the first gripping slot; and the second plate comprises a second control bar configured to advance a second gripping member toward a second needle receptacle disposed in the second gripping slot to hold the needle in the second gripping slot or to retract the second gripping member from the second receptacle to release the needle from the second gripping slot. Petition 870250100841, dated 11 / 04 / 2025, pp. 37 / 59 29 / 49 54. Suturing device, according to claim 52 or claim 53, characterized in that it further comprises a lever configured to move between: a first position for advancing the first control bar to hold the needle in the first clamping slot and retracting the second control bar to release the needle from the second clamping slot, a second position for retracting the first control bar to release the needle from the first clamping slot and retracting the second control bar to release the needle from the second clamping slot, and a third position for retracting the first control bar to release the needle from the first clamping slot and advancing the second control bar to hold the needle in the second clamping slot.

55. Suturing device, according to any one of claims 52 to 54, characterized in that it further comprises a cover disposed partially over the lever, the cover comprising indicators corresponding to movements of the lever to the first position, the second position and the third position.

56. Suturing device, according to any one of claims 52 to 55, characterized in that it further comprises a switching joint coupled to the first control bar and to the second control bar.

57. Suturing device, according to any one of claims 52 to 56, characterized in that the lever is coupled to the switching joint, wherein the lever is configured to rotate the switching joint to move the first control bar and the second control bar.

58. Suturing device, according to any one of claims 52 to 57, characterized in that the fixed arm further comprises an arm joint coupled to the movable arm, and wherein the movable arm is configured to rotate around the arm joint and relative to the fixed arm.

59. Suturing device, according to any one of claims 52 to 58, characterized in that the fixed arm further comprises a jaw joint located in the reference body, wherein the jaw joint is coupled to the movable jaw, and wherein the movable jaw is configured to rotate around the jaw joint and relative to the fixed jaw.

60. Suturing device, according to any one of claims 52 to 59, characterized in that the suturing device further comprises a connecting joint configured to link the movable arm and the movable jaw, wherein the movable arm is configured to move the connecting joint to cause the movable jaw to rotate around the jaw joint.

61. Suturing device, according to any one of claims 52 to 60, characterized in that it further comprises: one or more image sensors comprising one or more optical wires extending through the suturing device, wherein the one or more image sensors are configured to generate image data from an operating location of the suturing device.

62. Suturing device, according to any one of claims 52 to 61, characterized in that it further comprises: one or more electric field sensors positioned on a surface of the suturing device and configured to locate nerves within and around an operating site of the suturing device.

63. Suturing device, according to any one of claims 52 to 62, characterized in that it further comprises one or more piezoelectric films positioned on a surface of at least one of the first or second jaws, wherein the one or more piezoelectric films are configured to vibrate at least one of the first or second jaws.

64. Suturing method, characterized in that Petition 870250100841, dated 04 / 11 / 2025, p. 40 / 59 32 / 49 comprises: forming an incision in a vaginal wall to gain access to a patient's pelvic cavity; positioning a first suturing device within a pelvic cavity and adjacent to a first target tissue through the incision, the first target tissue being a first pelvic arch tendinous fascia (TAFP) in the pelvic cavity; placing, using the first suturing device, at least one suture in the first TAFP; placing at least one suture in the vesicovaginal fascia, the at least one suture in the vesicovaginal fascia being connected to at least one suture in the first TAFP; and pull at least one suture in the first ATFP and at least one suture in the vesicovaginal fascia to form a loop, thus approximating the vaginal wall to the first ATFP.

65. Method according to claim 64, characterized in that pulling at least one suture in the ATFP and at least one suture in the vesicovaginal fascia results in elevation of the vaginal wall, bladder neck and urethra.

66. Method, according to claim 64 or 65, characterized in that it further comprises: positioning the suture device within the pelvic cavity and adjacent to a second target tissue through the incision, the second target tissue being a second ATFP in the pelvic cavity; placing at least one suture in the second ATFP; placing at least one suture in the vesicovaginal fascia, the at least one suture in the vesicovaginal fascia being connected to at least one suture in the second ATFP; and pulling at least one suture in the second ATFP and at least one suture in the vesicovaginal fascia to form a loop, thereby approximating the vaginal wall to the second ATFP.

67. A method, according to any one of claims 64 to 66, characterized in that the anatomical position of at least one of the vaginal wall, bladder neck, or urethra in the pelvic cavity is restored.

68. Method according to claim 67, characterized in that the anatomical position of both the vaginal wall and the bladder neck and urethra in the pelvic cavity is restored.

69. A method according to any one of claims 64 to 68, characterized in that the physiological function of at least one of the vaginal wall, bladder neck, or urethra in the pelvic cavity is restored.

70. Method, according to claim 69, characterized in that the physiological function of both the vaginal wall and the bladder neck and urethra in the pelvic cavity is restored.

71. Method according to claim 64, Petition 870250100841, dated 04 / 11 / 2025, pp. 42 / 59 34 / 49 characterized in that at least one suture is formed from at least one of a line, a fiber, a filament and a thread.

72. Method according to claim 64, characterized in that at least one suture is formed from an absorbable material.

73. Method according to claim 64, characterized in that at least one suture is formed from a non-absorbable material.

74. Method, according to any one of claims 64 to 71, characterized in that at least one suture in the first ATFP or second ATFP is placed in an anteroposterior part of the first ATFP or second ATFP.

75. Method according to claim 74, characterized in that at least one suture in the first ATFP or in the second ATFP is placed at the junction of the pubic ramus and pubic symphysis.

76. Method, according to claim 74 or 75, characterized in that at least one suture in the first ATFP or second ATFP comprises a first suture and a second suture, wherein the first suture is placed in an anteroposterior part of the first ATFP or second ATFP, and the second suture is placed in a mediolateral pubic part of the first ATFP or second ATFP, at a distance of 0.5 to 1 cm posteroinferior in relation to the first suture.

77. A method according to any one of claims 64 to 76, characterized in that, after forming the incision in the vaginal wall and before positioning the device within the pelvic cavity, the method further comprises forming a dissection from the vesicovaginal fascia towards a junction of the pubic ramus and pubic symphysis.

78. Method, according to any one of claims 64 to 77, characterized in that the restoration is performed solely using sutures without a mesh.

79. Method, according to any one of claims 64 to 70, characterized in that, when the vesicovaginal fascia is approximated to the ATFPs bilaterally, the connection between the pelvic floor structures and the urethra and bladder neck is restored.

80. Method according to claim 64, characterized in that at least one suture in the vesicovaginal fascia is placed with a second suture device.

81. Method, according to claim 64, characterized in that it further comprises palpating a tissue to determine a target tissue location within the pelvic cavity. Petition 870250100841, dated 04 / 11 / 2025, pp. 44 / 59 36 / 49 82. Suturing method, characterized in that it comprises: forming a transverse incision in a vaginal wall to gain access to a patient's pelvic cavity; positioning a suturing device within a pelvic cavity and adjacent to a target tissue by the incision, the target tissue being a sacrospinous ligament in the pelvic cavity; placing a plurality of sutures in the target tissue; placing a plurality of sutures in the cervix or vaginal vault; and pulling the plurality of sutures to form a loop with the sutures passed in the sacrospinous ligament and in the cervix or vaginal vault to correct apical prolapse.

83. Suturing method, characterized in that it comprises: forming an incision in a vaginal wall to gain access to a patient's pelvic cavity; positioning a suturing device within a pelvic cavity through the incision, the suturing device including a movable jaw and a fixed jaw; opening the movable jaw relative to the fixed jaw until a target tissue in the pelvic cavity is positioned between the movable jaw and the fixed jaw, the tissue being Petition 870250100841, dated 04 / 11 / 2025, page.45 / 59 37 / 49 target each of the pelvic fasciae of the tendinous arch (PFA) in the pelvic cavity; place a plurality of sutures in the target tissue, with the plurality of sutures placed in each pelvic fasciae of the tendinous arch (PFA); place a plurality of sutures in the vesicovaginal fascia; and pull the plurality of sutures to form a loop with the sutures passed in the PFA and vesicovaginal fascia to approximate the vaginal wall to the PFA on each side and elevate the vaginal wall, bladder neck, and urethra to restore their anatomical and physiological positions in the pelvic cavity.

84. Method according to claim 83, characterized in that it further comprises forming a dissection from the vesicovaginal fascia towards the junction of the pubic ramus and the pubic symphysis.

85. Method according to claim 83, characterized in that it further comprises palpating a tissue to determine a target tissue location within the pelvic cavity.

86. Method, according to claim 83, characterized in that it further comprises pulling the suture device away from the target tissue to create a distance between the suture device and the target tissue to open the movable mandible relative to the fixed mandible.

87. Method according to claim 83, characterized in that the suturing device further comprises: a fixed jaw formed in one piece with a distal end of the fixed arm and comprising a first clamping slot configured to receive a needle; and a movable jaw movably coupled to a distal end of the movable arm, comprising a second clamping slot configured to receive the needle, the movable jaw being configured to rotate around a reference body on the fixed arm and relative to the fixed jaw.

88. Method according to claim 87, characterized in that the distal ends of the fixed and movable arms are angled so that the distal end accurately reaches the target tissue in the pelvic cavity to be sutured through a vaginal incision.

89. Method according to claim 83, characterized in that the suturing device further comprises: a fixed jaw formed in one piece with a distal end of the fixed arm comprising a first clamping slot configured to receive a needle; and Petition 870250100841, dated 04 / 11 / 2025, pp. 47 / 59 39 / 49 a movable jaw movably coupled to a distal end of the movable arm comprising a second clamping slot configured to receive the needle, the movable jaw configured to move linearly relative to the fixed arm.

90. Method according to claim 83, characterized in that the suturing device further comprises: a handle; an elongated arm connected to the handle at a proximal end thereof and with the first jaw and second jaw positioned at a distal end thereof, the first jaw being movable and comprising a first clamping slot configured to receive a needle and the second jaw being fixed and comprising a second clamping slot configured to receive the needle; and a mandrel mechanism configured to connect the handle to the elongated arm such that the first and second jaws at the distal end of the arm are rotatable around a longitudinal geometric axis of the arm to allow the first and second jaws to assume any angular position while the handle remains fixed.

91. Method, according to claim 83, characterized in that the suturing device Petition 870250100841, dated 04 / 11 / 2025, pp. 48 / 59 40 / 49 further comprises: a handle; and an elongated arm connected to the handle at a proximal end thereof and with the first and second jaws positioned at a distal end thereof, the first jaw comprising a first clamping slot configured to receive a needle and the second jaw comprising a second clamping slot configured to receive the needle, the first and second jaws having a fixed hole between them.

92. Suturing method, characterized in that it comprises: positioning a suturing device within a patient's pelvic cavity by means of an incision in a vaginal wall, the suturing device including a movable jaw and a fixed jaw; opening the movable jaw relative to the fixed jaw until a target tissue in the pelvic cavity is positioned between the movable jaw and the fixed jaw, the target tissue being the pelvic arch tendinous fascia (TAFP); and forming a Z-suture with the suturing device to place a plurality of sutures in the target tissue.

93. Method, according to claim 92, characterized in that it further comprises palpating a tissue to determine a target tissue location within the pelvic cavity. Petition 870250100841, dated 04 / 11 / 2025, pp. 49 / 59 41 / 49 94. A suturing method, characterized in that it comprises: positioning a suturing device within a patient's pelvic cavity, the suturing device including a movable jaw and a fixed jaw; opening the movable jaw relative to the fixed jaw until a target tissue in the pelvic cavity is positioned between the movable jaw and the fixed jaw; and providing treatment of pelvic organ prolapse by suturing the target tissue using the suturing device to place a plurality of sutures in the target tissue to suture the target tissue to the apical vaginal wall or cervix, the target tissue being in the form of a ligament in the pelvic cavity, such that suturing the ligament to the apical vaginal wall or cervix provides an elevation of the vaginal apex.

95. Method according to claim 94, characterized in that it further comprises palpating a tissue to determine a target tissue location within the pelvic cavity.

96. Suturing method, characterized by the fact that it comprises: positioning a suturing device within a patient's pelvic cavity by means of an incision in Petition 870250100841, dated 04 / 11 / 2025, page.50 / 59 42 / 49 a vaginal wall, the suturing device including a movable jaw and a fixed jaw and a needle; opening the movable jaw relative to the fixed jaw until a target tissue in the pelvic cavity is positioned between the movable jaw and the fixed jaw; and actuating the movable jaw relative to the fixed jaw so that the movable jaw moves towards the fixed jaw to move a needle positioned in at least one of the movable jaw and the fixed jaw through the target tissue to apply a suture to the target tissue; optionally wherein the suturing device is sized and shaped to be received into the pelvic cavity through the vaginal wall in order to position sutures to elevate the vaginal wall, bladder neck and urethra to restore their anatomical and physiological positions in the pelvic cavity.

97. Method according to claim 96, characterized in that it further comprises palpating a tissue to determine a target tissue location within the pelvic cavity.

98. Method according to claim 96, characterized in that the suturing device further comprises: a fixed jaw formed in one piece with a distal end of the fixed arm and comprising a first clamping slot configured to receive a needle; and a movable jaw movably coupled to a distal end of the movable arm, comprising a second clamping slot configured to receive the needle, the movable jaw being configured to rotate about a reference point on the fixed arm and relative to the fixed jaw while the fixed jaw remains stationary.

99. Method according to claim 98, characterized in that the distal end of the fixed and movable arms is angled so that the distal end accurately reaches the target tissue in the pelvic cavity to be sutured through the vaginal wall.

100. Suturing device, characterized in that it comprises: a handle; an elongated arm connected to the handle at a proximal end thereof and with a first jaw and a second jaw positioned at a distal end thereof, the first jaw being movable and comprising a first clamping slot configured to receive a needle and the second jaw being fixed and comprising a second clamping slot configured to receive the needle; and a mandrel mechanism configured to connect the handle to the elongated arm so that the first and second jaws at the distal end of the arm are rotatable around a longitudinal geometric axis of the arm to allow the first and second jaws to assume any angular position while the handle remains fixed.

101. Suturing device, according to claim 100, characterized in that the mandrel mechanism comprises a user-operated button configured to move a spring-loaded pin positioned within the mandrel mechanism to one of at least one recess positioned along an angled path of the mandrel mechanism.

102. Suturing device, according to claim 101, characterized in that the position of the pin within one of at least one recess is configured to define an angular position of the first and second jaws.

103. Suturing device, according to claim 100, characterized in that it further comprises a lever mechanism configured to move the first jaw relative to the second jaw in a linear guide.

104. Suturing device, according to claim 103, characterized in that the lever mechanism has a distal position in which the first and second jaws are fully closed and a proximal position in which the first and second jaws are fully open.

105. Suturing device, according to claim 100, characterized in that it further comprises a needle transfer mechanism configured to transfer a needle between a first clamping slot in the first jaw and a second clamping slot in the second jaw for applying sutures to a target tissue.

106. Suturing device, according to claim 105, characterized in that the needle transfer mechanism comprises: a toggle switch configured to move between a distal position and a proximal position transferring the needle between the first jaw and the second jaw using a first cable and a second cable; wherein a distal position of the toggle switch transfers the needle from the first jaw to the second jaw by pulling the first cable, and wherein the proximal position of the toggle switch transfers the needle from the second jaw to the first jaw by pulling the second cable.

107. Suturing device, according to any one of claims 100 to 106, characterized in that it further comprises: Petition 870250100841, dated 04 / 11 / 2025, pp. 54 / 59 46 / 49 one or more image sensors comprising one or more optical wires extending through the suturing device, wherein the one or more image sensors are configured to generate image data from an operational location of the suturing device.

108. Suturing device, according to any one of claims 100 to 106, characterized in that it further comprises: one or more electric field sensors positioned on a surface of the suturing device and configured to locate nerves within and around an operating site of the suturing device.

109. Suturing device, according to any one of claims 100 to 106, characterized in that it further comprises one or more piezoelectric films positioned on a surface of at least one of the first or second jaws, wherein the one or more piezoelectric films are configured to vibrate at least one of the first or second jaws.

110. Suturing device of claim 100, characterized in that it further comprises a double-acting needle discharge button positioned at a proximal end of the handle, the double-acting needle discharge button being configured to discharge the needle while the first and second jaws are open. Petition 870250100841, dated 04 / 11 / 2025, pp. 55 / 59 47 / 49 111. Suturing device, characterized in that it comprises: a loop; and an elongated arm connected to the loop at a proximal end thereof and with the first and second jaws positioned at a distal end thereof, the first jaw comprising a first clamping slot configured to receive a needle and the second jaw comprising a second clamping slot configured to receive the needle, the first and second jaws having a fixed hole between them; wherein the distal end of the arm is angled relative to the proximal end so that the distal end is configured to reach a target tissue to be sutured.

112. Suturing device, according to claim 111, characterized in that the first and second jaws are rotated between 60 degrees and 90 degrees relative to the elongated arm.

113. Suturing device, according to claim 111, characterized in that it further comprises: one or more image sensors comprising one or more optical wires extending through the suturing device, wherein the one or more image sensors are configured to generate image data from an operational location of the suturing device.

114. Suturing device according to claim 111, characterized in that it further comprises: one or more electric field sensors positioned on a surface of the suturing device and configured to locate nerves within and around an operating site of the suturing device.

115. Suturing device, according to claim 111, characterized in that it further comprises one or more piezoelectric films positioned on a surface of at least one of the first or second jaws, wherein the one or more piezoelectric films are configured to vibrate at least one of the first or second jaws.

116. Suture needle, characterized in that it comprises: an elongated body with a proximal end and a distal end; a first circumferential slot positioned at the proximal end of the elongated body and a second circumferential slot positioned at the distal end of the elongated body, the first and second circumferential slots being configured to interact with a suture device; and a thread slot formed in a middle portion of the elongated body between the proximal and distal ends of the elongated body, the thread slot being configured to receive a thread, wherein the thread is forcibly deformed in the thread slot creating a desired retention force between the suture needle and the thread to join the thread to the suture needle.

117. Suture needle, according to claim 116, characterized in that the thread slot has a cross-sectional geometry that is at least one of rectangular, triangular, inclined, straight, linear, or circumferential.

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