Devices and systems for suturing

Abstract

The present invention is entitled "Movable Suturing Apparatus and Method". The embodiments disclosed in the present invention include apparatus, systems and methods for suturing wounds, incisions or other openings. In an exemplary embodiment, the apparatus includes a roller mechanism configured to support two substantially parallel rollers in a counter-rotatable manner, the two substantially parallel rollers being configured to engage the axis of a spiral needle between the two, the needle having a tip at the leading end, pulling a filament from the rear end, and having a first spiral radius, the needle being able to rotate around the first roller, the roller radius of the first roller being smaller than the spiral radius of the needle, so that the needle can pierce the body and pull the filament through the body disposed adjacent to the first roller. A motor drive is operably coupled to the roller mechanism to transmit a rotational force, thereby rotating the two substantially parallel rollers. A controller is operably coupled to the motor drive and configured to cause the needle to complete at least one rotation to form a single suture in the body.

Description

[0001] Priority declaration

[0002] This patent application claims priority to and the benefit of U.S. Provisional Patent Application Serial No. 63 / 002,928, filed on March 31, 2020, and U.S. Provisional Patent Application Serial No. 63 / 002,995, both entitled “MOVABLE SUTURING APPARATUS AND METHOD.” Technical Field

[0003] The present disclosure relates to devices, systems, and methods for suturing objects. Background Art

[0004] The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.

[0005] Suturing is usually used to close an incision or wound. Suturing is usually formed by passing a curved needle through the tissue at both sides of the incision or wound, wherein the needle pulls the filament from the rear end. Once the curved needle completes a complete rotation around the incision or wound, the filament forms a suture to keep the tissue closed.

[0006] Although the process itself is well known, the process of positioning the needle at the desired location and actuating the needle may not be simple. Even when suturing is performed by a skilled and / or experienced medical provider, the person suturing the wound or incision may have difficulty reaching the location and actuating the needle through the tissue. Summary of the invention

[0007] Embodiments disclosed herein include devices, systems, and methods for closing wounds, incisions, or other openings.

[0008] In an exemplary embodiment, the apparatus includes a roller mechanism configured to counter-rotatably support two substantially parallel rollers configured to engage the axis of a spiral needle between them, the needle having a tip at a leading end, pulling a filament from a rear end, and having a first spiral radius, the needle being able to rotate around a first roller, the roller radius of the first roller being smaller than the spiral radius of the needle, so that the needle can pierce the body and pull the filament through the body disposed adjacent to the first roller. A motor drive is operably coupled to the roller mechanism to transmit a rotational force to rotate the two substantially parallel rollers. A controller is operably coupled to the motor drive and configured to cause the needle to complete at least one rotation to form a single suture in the body.

[0009] In another embodiment, the system includes a spiral needle with a spiral radius, the needle having a tip located at a first end of the shaft and a filament engaged to a second end. The roller mechanism is configured to support two substantially parallel rollers in a counter-rotatable manner, the two substantially parallel rollers being configured to engage the axis of the needle between the two, the needle being able to rotate around a first roller, the roller radius of the first roller being less than the spiral radius of the needle, so that the first end of the needle can pierce the body and pull the filament through the body disposed adjacent to the first roller. The motor drive includes a motor and a controller, the motor being operably coupled to the roller mechanism to transmit a rotational force, thereby rotating the two substantially parallel rollers, the controller being operably coupled to the motor and being configured to cause the needle to complete at least one rotation to form a single suture in the body.

[0010] In another embodiment, in an exemplary method, a first roller of two generally parallel rollers is positioned adjacent to the body, wherein the two generally parallel rollers engage a spiral needle therebetween, wherein the needle pulls a filament from a rear end, has a first spiral radius greater than a radius of the first roller, and is capable of rotating about the first roller to enable the needle to pierce and extend through the body. An input is provided to a motor operably coupled to at least one of the two generally parallel rollers, wherein the input rotates the motor to rotate the two generally parallel rollers to cause the needle to complete at least one rotation to form a single suture.

[0011] In another exemplary embodiment, the device includes a spiral needle having a first spiral radius, the needle having an axis and pulling the filament from the rear end. Two substantially parallel rollers are configured to engage the axis of the needle between the two, and the first roller has a roller radius less than the spiral radius of the needle so that the needle can rotate around the first roller, thereby piercing the body disposed adjacent to the first roller and pulling the filament through the body. The frame is configured to support the roller in a reversely rotatable manner. The frame includes a support coupling and a drive coupling, the support coupling being configured to detachably receive the distal end of the support shaft extending from the drive mechanism, the drive coupling being configured to detachably receive the distal end of a drive member extending from the drive mechanism, and the drive member being configured to provide a rotational force to at least one of the rollers.

[0012] In another exemplary embodiment, the drive mechanism includes a housing, a motor supported by the housing, a support shaft extending from the housing, and a drive member connected to the motor and supported by the shaft, wherein the drive member is configured to transmit a rotational force from the motor. The suture tube includes a spiral needle having a first spiral radius, the needle having an axis and pulling a filament from a rear end. Two substantially parallel rollers are configured to engage the axis of the needle between the two, the first roller having a roller radius less than the spiral radius of the needle so that the needle can rotate around the first roller, thereby piercing a body disposed adjacent to the first roller and pulling the filament through the body. The frame is configured to support rollers in a reverse rotatable manner. The frame includes a support coupling and a drive coupling, the support coupling being configured to detachably receive the distal end of the support shaft, the drive coupling being configured to detachably receive the distal end of the drive member and transmitting a rotational force to at least one of the rollers.

[0013] In another embodiment, an exemplary method includes engaging a suture tube with a motor drive. The suture tube supports a pair of generally parallel rollers that rotatably engage the axis of a spiral needle therebetween, the needle being rotatable about a first roller and having a spiral radius greater than a roller radius of the first roller so that the needle can pierce and extend through a body disposed adjacent to the first roller. A first roller of the two generally parallel rollers is positioned adjacent to the body. An input is provided to the motor drive, wherein the input causes the motor drive to rotate, the two generally parallel rollers to rotate, so that the needle completes at least one rotation, thereby forming a single suture.

[0014] Other features, advantages, and areas of applicability will become apparent from the description provided herein.It should be understood that the detailed description and specific examples are intended for illustrative purposes only and are not intended to limit the scope of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings described herein are for illustrative purposes only and are not intended to limit the scope of the present disclosure in any way. The components in the drawings are not necessarily drawn to scale, but emphasis is placed on illustrating the principles of the disclosed embodiments. In the drawings:

[0016] Figure 1 is a perspective view of an embodiment of an apparatus for suturing an object;

[0017] Figure 2 yes Figure 1 A perspective view of a roller mechanism of the device;

[0018] Figure 3 yes Figure 1 A schematic block diagram of components of a device;

[0019] Figure 4A and Figure 4Bare positioned to sew objects using human hands and robotic actuators respectively Figure 1 A perspective view of the device;

[0020] Figure 5 It is available with Figure 1 A side view of a spiral needle used with the device;

[0021] Figure 6 yes Figure 5 Cross-sectional view of the needle;

[0022] Figure 7 is with Figure 1 and Figure 2 Roller bonding of equipment Figure 5 Side view of the needle;

[0023] Figure 8 is received in Figure 7 The groove of one of the rollers Figure 5 A top view of a portion of a needle;

[0024] Fig. 9 is received in a roller having an expansion groove Figure 5 Side view of the needle;

[0025] Fig.10 is the needle that engages the needle and experiences the lateral force that compresses the needle Figure 7 A schematic view of a roller of the device;

[0026] Figures 11 to 13 The needle is received in the correction recess. Figure 7 A schematic view of a roller of the device;

[0027] Figures 14 to 16 is a side view of a needle received by the correction recess and guided into the groove;

[0028] Fig.17 and Fig.18 It is a correction concave part with other shapes. Figure 7 A schematic view of a grooved roller of an apparatus of

[0029] Fig.19A and Fig.19B is a schematic axial view of a needle that may miss a correction recess on a grooved roller;

[0030] Fig. 20A and Fig. 20B is a schematic axial view of a needle having a decreasing helical radius;

[0031] Fig.21A and Fig. 21B It strikes the surface of the grooved roller and is then received in the correction recess. Fig. 20A and Fig. 20BSchematic view of a needle;

[0032] Fig. 22 Uses a removable suture cartridge Figure 1 A perspective view of the axis of the device;

[0033] Fig.23 Can be engaged with alternative suture cartridges having needles of different sizes Figure 1 A perspective view of the axis of the device;

[0034] Fig.24 Is support Figure 1 A top view of a motor drive of the device and a supply tray of a plurality of interchangeable suture tubes;

[0035] Fig.25 Supports interchangeable suture cartridges Fig.24 a side view of a portion of a supply tray;

[0036] Fig.26A is a schematic diagram of a spiral needle positioned to suture an opening;

[0037] Fig.26B yes Fig.26B Schematic diagram of the spiral needle after it has been turned to sew up the opening;

[0038] Fig. 27 is a flow chart of an illustrative method of suturing a body using a helical needle actuated by two generally parallel rollers; and

[0039] Fig.28 is a flow chart of an illustrative method of engaging a suture barrel with a motor drive to suturing a body. DETAILED DESCRIPTION

[0040] The following description explains various embodiments of the device, system and method for suturing an opening (such as a wound or incision) of a body by way of illustration only and not limitation. It should be noted that the first digit of a three-digit reference number and the first two digits of a four-digit reference number correspond to the figure number in which the element first appears.

[0041] By way of non-limiting introduction and overview, the apparatus and system of the present disclosure employ a motor driver to actuate two substantially parallel rollers of the opposite faces of the axis of the engagement spiral needle. The first of the two rollers is disposed adjacent to an opening in a subject (such as a wound or an incision). The spiral needle and the first roller have a radius of tissue on the opposite side of the opening that is dimensioned to enable the spiral needle to rotate around the first roller and pass through the opening. The rear end of the spiral needle pulls the filament. When the motor driver causes the roller to rotate the needle once a complete rotation, a suture is formed to close the opening. In various embodiments, the motor driver has a controller that causes the motor to form a single suture when a button is pressed or another discrete input is received. Therefore, by positioning the roller and the needle at the desired suture position and providing a single input, a suture can be formed without the operator or actuator moving to manually pull the needle through the subject to form a suture.

[0042] In various embodiments, the motor drive can be removably coupled to a suture barrel supporting the roller and needle. Thus, different barrels can be removably and disposablely coupled by the motor drive to form sutures on different portions of a body or on different bodies. The motor drive can be reused, while the suture barrel including the roller and needle can be discarded. Additionally, alternative suture barrels can support needles of different sizes to support the formation of sutures of different sizes for different applications.

[0043] Now that an overview has been given, details of various embodiments will be explained only by way of non-limiting examples given by way of illustration and not limitation.

[0044] Additional references Figure 1 , in the apparatus 100 includes a motor drive 120 coupled to a roller mechanism 150 that actuates the pulling of the filament 190 to form a suture ( Figure 1 The motor drive 120 includes a housing 122 that supports and / or contains other components of the motor drive 120. The housing 122 includes a feature that facilitates the housing 122 to be held by a human operator or by a robotic arm or other mechanical actuator ( Figure 1 The interactive device 124 supported by the housing 122 is not shown. The interactive device 124 can be shaped or textured to help an operator or actuator to firmly hold the housing 122.

[0045] Housing 122 may support one or more controls 124 and 126 that control the operation of motor drive 122. In various embodiments, and as further described below, suturing control 124 may cause components of motor drive 120 to rotate needle 180 once to form a single suture. Second control 126 may be configured to stop and / or reverse the rotation of needle 180 as desired. An electrical input 128 may be included to allow power to the motor and other components (not shown) from an external source. Figure 1The electrical input 128 may be used to provide an input signal in place of or in addition to the controls 124 and 126. For example, the use of such an input 128 may allow a human operator to trigger the formation of sutures by activating a foot switch (not shown) or other external control. Additionally, if the device 100 is used by a robotic arm or other actuator, the input 128 may allow the actuator to control the device 100 without physically engaging the controls 124 and 126.

[0046] In various embodiments, shaft 130 extends from housing 122 to support roller mechanism 150. The size and shape of shaft 130 can be set to allow roller mechanism 150 to be conveniently positioned away from housing 122 to form sutures without requiring housing 122 and / or the operator's hand or other supporting body to be placed near the opening to be sutured. Therefore, the distance between housing 122 and roller mechanism 150 can provide the operator with greater visibility of the opening to be sutured and provide additional freedom of movement compared to the case where housing 122 must be in close proximity to the opening to be sutured. Shaft 130 can mechanically support roller mechanism 150 and accommodate a drive member ( Figure 1 ), as further described below.

[0047] Additional references Figure 2 , the roller mechanism 150 may include a frame 154 supporting rollers 156 and 158, which actuate the needle 180, which in turn pulls the suture-forming filament 190. As further described below, the frame 154 may be removably coupled to the shaft 130. The proximal end 152 of the frame 150 may engage the distal end 132 of the shaft 130. The aforementioned drive coupling (not shown) may extend across and / or through the junction of the distal end 132 of the shaft 130 and the proximal end 152 of the frame to provide a rotational force to the rollers 156 and 158.

[0048] The first roller 156 may be adjacent to the opening in the body to be sewn ( Figure 1 and Figure 2 The first roller 156 is positioned in the body (not shown), wherein the spiral needle 180 is positioned to run around the first roller 156 to pierce the body and pull the filament 190 through it. The axis of the needle 180 is engaged by the first roller 156 and the second roller on the opposite side, and the rollers 156 and 158 rotate in the opposite direction to rotate the needle 180 eccentrically around the first roller 156. As further described below, the second roller 158 may include a groove 159 to partially receive the needle 180, thereby positioning and fixing the needle when the needle 180 rotates to form a suture. The open end 160 of the frame 150 enables the filament 190 to be pulled by the needle 180, and the filament 190 does not need to be guided or potentially blocked by the frame at the open end 160.

[0049] Additional references Figure 3In various embodiments, the motor drive 110 includes components that support the aforementioned functional parts. As previously described, the motor drive 110 includes a stitching control 124, a second control 126, and an electrical input terminal 128. In such embodiments, the motor drive 110 may also include a motor 310, a controller 320, a power source 330, and a drive member 340.

[0050] In various embodiments, the motor 310 is any type of electric motor that provides a selectively activated source of rotational force transmitted to the roller mechanism 150. The motor 310 is mechanically coupled to a drive member 340, such as a drive shaft or a drive cable. As further described below, the drive member 340 can be operably coupled to a drive coupling 350 of the roller mechanism 150. The drive member 340 (which can be a drive shaft or a drive cable mechanically coupled to at least one of the rollers 156 or 158) receives a rotational force from the motor 310 via the drive member 340 and the drive coupling 350 to rotate at least one of the rollers 156 and 158 to actuate the needle 180 to form a suture, as further described below.

[0051] In various embodiments, the motor 310 is coupled to a controller 320, which in various embodiments is coupled to the stitching control 124, the second control 126, the electrical input 128, and the power source 330. In various embodiments, the controller 320 is a logic circuit or microprocessor that can be configured to direct the operation of the motor 310 upon receiving control inputs received from the stitching control 124, the second control 126, and / or the electrical input 128. As previously described, when the user engages the stitching control 124 (or receives a similar instruction via the electrical input 128), the controller 320 causes the motor 310 to rotate so that the roller mechanism 150 rotates the needle 180 ( Figure 1 and Figure 2 ) to complete the rotation, thereby forming a stitch. The controller 320 receives power from a power source 330 contained in the motor driver 110 or from an external power source via the electrical input terminal 128 and selectively provides electrical power to the motor 310 so that the motor 310 provides a generated rotational force. Also as previously described, when the user engages the second control 126 (or receives a similar instruction via the electrical input terminal 128), the controller 320 stops or reverses the motor 310 when necessary.

[0052] Additional references Figure 4A and Figure 4B, the device 100 can be shaped to facilitate operation. In various embodiments, the shaft 130 can include an angled portion 430 to enable the housing 122 to be positioned at a first displacement 432 from the body 410 to be sutured, while the roller mechanism 150 is disposed at the location 412 where the suture is to be placed. The angled portion 430 allows the first displacement 432 to be a hand ( Figure 4A ) or the actuator of the electromechanical device 452 ( Figure 4B ) provides space to hold the device 100 in place without abutting the body 410.

[0053] Similarly, shaft 130 can be configured to allow a second displacement 434 between housing 120 and roller mechanism 150 so that housing 120 need not be placed immediately adjacent to location 412. Allowing second displacement 434 can allow roller mechanism 150 to be inserted into a location where housing 120 may not fit due to other structures (not shown) or so as not to prevent housing 120 from obstructing viewing of location 412.

[0054] Reference again Figure 4A , it will be appreciated that with the user's hand 402 supporting the device 100, the user can hold the device 110 at position 412 with one hand and can initiate the formation of a stitch by engaging the stitch control 124 with the thumb 404 (or other finger, depending on the placement of the stitch control 124 and the hand). Referring again to Figure 4B , with actuator 452 supporting device 100, actuator 452 can position the device at location 412 and can initiate the formation of a suture by sending a control signal to electrical input 128 via signal coupling 454. In either case, a suture can be formed at location 412 without requiring the force or space required for a person at location 412 to use one or both of their hands to push and pull the needle through the body to form the suture.

[0055] Additional references Figure 5 , the spiral needle 180 has an axis 501, when the rollers 156 and 158 ( Figure 1 and Figure 2 ) is actuated, the spiral needle rotates around the axis. Figure 1 and Figure 2 , axis 501 is not coaxially located with the axis of either roller 156 and 158. Instead, axis 501 is parallel to the axis of rollers 156 and 158, thereby allowing needle 180 to be rotated by rollers 156 and 158 while rotating about its own axis 501 to engage body 410 ( Figure 4A and Figure 4B). In various embodiments, the shaft 510 of the needle 180 may have a rectangular or square cross-section, as further described below. The needle 180 has a pointed leading end 512 and pulls the filament 190 from the rear end 514. In various embodiments, the filament 190 is coupled to the rear end 514, such as by curling around the end of the filament 190 through the rear end 514.

[0056] Additional references Figure 6 , along Figure 5 In a cross section of the shaft 510 of the needle 180 taken along the axis 6-6, the shaft 510 of the needle 180 has opposing flat surfaces 602 and 604 on opposite sides of a generally rectangular or square cross section 600. The flat surfaces 602 and 604 have a width w s The opposing flat surfaces 602 and 604 may engage the groove 159 ( Figure 1 and Figure 2 ) and can be engaged by the surface of roller 156 on the other side.

[0057] Additional references Figure 7 , the shaft 510 of the needle 180 is received in the groove 159 in the roller 158. In various embodiments, the groove 159 has a rectangular cross-section. The groove 159 is defined by a generally flat bottom 712, which is defined by generally flat sides 716, each of which extends to an opening 714 at the grooved surface 720 of the roller 158. The roller 156 has a flat surface 757. The shaft 510 of the needle 180 is thus engaged between the groove 159 of the roller 158 on one side and the flat surface 757 of the roller 156 on the opposite side. The rollers 156 and 158 are respectively in the apparatus 100 ( Figure 1 and Figure 2 ) has open distal ends 756 and 758 at the open end 160. The open distal ends 756 and 758 of the rollers 156 and 158 allow the rear end 514 ( Figure 7 190 is pulled by the filament 190 (not shown) without the filament 190 being guided through or around a distal mounting member or other similar obstruction.

[0058] Rollers 156 and 158 rotate in opposite directions to rotate needle 180, with roller 156 rotating in direction 766 and roller 158 rotating in opposite directions 768. In the case where needle 180 is arranged to rotate eccentrically about roller 156, needle 180 rotates in the same direction 756 as roller 156. Rollers 156 and 158 may be connected by gears or similar rotatable linkages ( Figure 7156 and 158 are mechanically interconnected to counter-rotate rollers 156 and 158. Alternatively, because rollers 156 and 158 are frictionally engaged with opposite sides of shaft 510 of needle 180, rotation of one of rollers 156 or 158 will counter-rotate the opposing roller. In various embodiments, leading end 512 of needle 180 is configured to advance in direction 701 away from open end 160 of device 100 when rollers 156 and 158 counter-rotate.

[0059] Continue to refer Figure 7 It should be understood that according to the spiral radius R ( Figure 5 ) to the radius r of roller 158, the pitch of groove φ is proportionally matched to the pitch of needle θ. Therefore, when roller 158 rotates with roller 156 to actuate needle 180, needle 180 will align with groove 159.

[0060] Additional references Figure 8 , the width W of the groove 159 of the roller 158 is greater than the width W of the shaft 512 of the needle 180 s In the case of the shaft 512 of the needle 180, the shaft fits within the groove 159 without the side 716 of the groove 159 impacting the side 810 of the shaft 512 of the needle 180. Thus, the widened width W of the groove 159 avoids undesirable effects, such as compression of the needle 180 along its axis 501. In various embodiments, a width W greater than the shaft 510 of the needle 180 is used. s A 20% greater groove width W properly accommodates the shaft 510 of the needle 180 within the groove 159 without the side 716 impinging on the shaft 510 of the needle 180 .

[0061] Additional references Fig. 9 , various embodiments of the grooved roller 958 may include a groove 959 having two flared sides 916 to accommodate the shaft 512 of the needle 180. The groove 959 with flared sides is intended to accommodate the sides of the needle 180. A square or rectangular groove without tapered sides may obstruct the needle 180 and cause the needle 180 to deform as the needle 180 rotates between the rollers. This tapered gap is required to allow the spiral needle to be rotated between the rollers 156 and 158 ( Figure 7 ) without being disturbed by the groove. Fig. 9 As shown, the groove 959 expands from the bottom 912 of the groove 959 to the opening 914 at the surface 920 of the roller 958. Therefore, the groove 959 has a generally trapezoidal cross-section. When the needle 180 is displaced or deformed, the width W of the groove 959 at the surface 920 is F The side surface 912 for receiving the shaft 510 of the needle 180 serves as the shaft 510 of the needle 180 .

[0062] refer to Fig.10 , when the leading end 512 leaves the body being sutured ( Fig.10 The force 1002 on the needle 180 may also cause the leading end 512 of the needle 180 to miss the groove 159 when the needle 180 is rotated back toward the grooved roller 158. Instead of rotating into the groove 159, the leading end 512 of the needle 180 impacts the surface 1004 of the roller 158 outside of the groove 159. It should be understood that the force 1002 may act in either direction, thereby potentially causing the leading end 512 of the needle 180 to miss the groove 159 on either side.

[0063] refer to Fig.11 , the correction recess 1110 may be located at the front end 1112 of the groove 159 of the grooved roller 158. The correction recess 1110 may be defined by the expanded lateral surfaces 1130 and 1131, which will act as a funnel or guide to direct the leading end 512 of the needle 180 back into the groove 159, as described below. The lateral sides 1130 and 1131 define a widened area to receive the leading end 512 of the needle 180. Therefore, the force 1002 does not act on the needle 180 (which would cause the leading end 512 of the needle 180 to miss the groove 159 and impact the surface 1004 of the roller 159). Instead, the leading end 512 of the needle 180 is received in the correction recess 1110. Then, as described below, the reverse rotation of the rollers 156 and 158 will cause the correction recess 1110 to rotate relative to the leading end 512 of the needle 180 to guide the needle 180 back into the groove 159.

[0064] refer to Fig.12 , when rollers 156 and 158 rotate in opposite directions, and grooved roller 158 rotates in direction 1220, correction recess 1110 rotates toward opposite roller 156. Movement of correction recess 1110 causes lateral surface 1130 of correction recess 1110 to impact leading end 512 of needle 180. Lateral surface 1130 moves leading end 512 of needle 180 in direction 1240 to guide leading end 512 toward front end 1112 of groove 159.

[0065] refer to Fig.13 As the grooved roller 158 rotates further in the direction 1220, the leading end 512 of the needle is guided into the front end 1112 of the groove 159. Fig.13 ) will be repeatedly rotated into position to receive the leading end 512 of needle 180 upon subsequent rotations of needle 180 after each suture is formed.

[0066] Still refer to Fig.13In various embodiments, the groove 159 may have a reduced depth d1 at or near the front end 1112 of the groove 159 as compared to the regular depth d2 of the remainder 1350 of the groove 159. The reduced depth d1 at the front end 1112 may result in a reduced gap between the front end 1112 of the groove 159 and the opposing roller 156. Such a reduced gap may result in the opposing roller 156 applying a higher pressure against the needle 180 at the front end 1112 of the groove 159. The reduced depth d1 (and the resulting higher pressure) enables the rollers 156 and 158 to firmly grip the needle 180 as it begins its next rotation after the needle 180 has been redirected into the groove 159 through the correction recess 1110.

[0067] refer to Figures 14 to 16 , the leading end 512 of the needle 180 is guided by the lateral surface 1130 of the correction recess 1110 into the front end 1112 of the groove 159 of the grooved roller 158. Fig.14 , the leading end 512 of the needle 180 is received in the correction recess 1110, which is located between the lateral surfaces 1130 and 1131 that define the sides of the correction recess 1110. As previously described with reference Fig.10 As described above, the leading end 512 of the needle 180 will fall outside the groove 159, the sides of which are Figures 14 to 16 Indicated by dotted line.

[0068] refer to Fig.15 , when there is a grooved roller 158 as in reference Fig.12 and Fig.13 During such rotation, the lateral surface 1130 of the correction recess 1110 engages the leading end 512 of the needle 180. It should be understood that when the grooved roller 158 is as shown in FIG. Fig.13 During the rotation, the correction recess 1110 becomes narrower between the lateral surfaces 1130 and 1131. Fig.16 , when there is a grooved roller 158 as in reference Fig.13 When the further rotation is performed, the correction recess 1110 ( Fig.16 The lateral surfaces 1130 and 1131 (not shown) merge into the front end 1112 of the groove 159. Therefore, the correction recess 1110 receives the leading end 512 of the needle 180 at a position outside the groove 159 and guides the leading end 512 of the needle 180 into the groove 159.

[0069] refer to Fig.17 and Fig.18 The grooved roller may include correction recesses whose shape is different from the reference recesses. Figures 11 to 16 The shape described. Fig.17, for example, the grooved roller 158 may include a correction recess 1710 that is widened on only one side. For example, it may be expected that the only force acting on the needle 180 will cause the needle 180 to deflect in the direction 1702. Therefore, the correction recess 1710 may include one lateral surface 1731 extending straight from the front end 1712 of the groove 159 and one expanded lateral surface 1730 to accommodate deflection of the leading end 512 of the needle 180 in the direction 1702. The single expanded lateral surface 1730 should accommodate any expected deflection of the leading end 512 of the needle 180.

[0070] It should be understood that the lateral surface of the correction recess is not limited to a straight flared shape. Fig.18 For example, the correction recess 1810 may include one or more curved or otherwise non-straight surfaces 1830 and 1831 to engage the leading end 512 of the needle 180. The curved lateral surfaces 1830 and 1831 may also be used to impact the leading end 512 of the needle 180 to guide the leading end 512 into the front end 1812 of the groove 159. The lateral surfaces of the correction recess are not limited to any particular geometry.

[0071] refer to Fig.19A and Fig.19B Based on forces that may affect the movement of the spiral needle 180, such as resistance encountered by the needle 180 or sliding of the needle 180 between the rollers 156 and 158, the leading end 512 of the needle 180 may miss the correction recess 1110 when the leading end 512 rotates toward the correction recess 1110.

[0072] refer to Fig.19A , depicts a portion of the needle 180 as the needle 180 rotates around the roller 156. It should be understood that Fig.19A and Fig.19B An axial view of the needle 180 in FIG. Fig. 20A and Fig. 20B The axial view of needle 180 in FIG. 1 shows a projection of needle 180 that describes less than a complete arc of a circle about its axis. However, in practice, needle 180 actually describes more than a complete arc of a circle about its axis so that rollers 156 and 158 can engage the shaft of the needle when needle 180 is fully rotated about its axis to form a suture.

[0073] Needle 180 describes more than a complete arc about its axis to partially account for the narrowed, pointed leading end 512 of needle 180, which may be too narrow to be engaged by rollers 156 and 158. Similarly, the trailing end 514 (( Figure 5 ) may be narrowed or tapered to engage the suture ( FIG. 19A to FIG. 20BThe filaments (not shown) may be too narrow to be engaged by rollers 156 and 158. Therefore, needle 180 describes more than a complete arc around its axis to allow for ends that may not be engaged by rollers 156 and 158. In any case, FIG. 19A to FIG. 20B The needle 180 in FIG. 1 is represented as not depicting a complete arc about its axis so as to be able to illustrate the position of the leading end 512 of the needle 180 without being potentially obscured by overlapping portions of the needle 180 .

[0074] Continue to refer Fig.19A , when the needle 180 rotates in the direction 1901 due to the reverse rotation of the rollers 156 and 158, the leading end 512 of the needle 180 approaches the correction recess 1110 formed in the surface of the grooved roller 158. Fig.19B , when some of the forces described have hindered the movement of the needle 180, the grooved roller 158 may have rotated so that the correction recess 1110 has rotated so that the leading end 512 of the needle 180 is not received by the correction recess 1110. Generally speaking, the radius R of the spiral needle 180 will be an integer multiple of the radius r of the grooved roller so that the movement of the correction recess 1110 is synchronized with the rotation of the needle 180 to receive the leading end 512 of the needle 180. In other words, the ratio between the radius R (or diameter) of the needle 180 and the radius r (or diameter) of the roller 158 will be an integer greater than or equal to two. However, the forces acting on the needle 180 may impair the rotational synchronization of the needle 180 and the grooved roller 158, indicating that the radius R of the needle 180 may be less than an integer multiple of the radius r of the roller 158 (or the ratio of R to r should be less than two or another integer ratio of R to r).

[0075] refer to Fig. 20A and Fig. 20B , reducing the radius of the spiral needle 180 can compensate for the forces that may hinder the rotation of the needle 180 to avoid synchronization problems with the grooved roller 158. Fig. 20A The radius R' of spiral needle 2090 is greater than that of needle 180 (in order to compare with needle 2090, Fig. 20A 158) is about 5% smaller than the radius R of the grooved roller 158. Thus, compared to the needle 180 having a radius R that is twice the radius r of the grooved roller 158, the radius R' of the needle 2090 is about 1.9R or 5% smaller than R. With the shortened radius R', the leading end 2092 of the needle 2090 is closer to the grooved roller 158 than the leading end 512 of the needle 180 at this point in the rotation of the needle 2090. Fig. 20B , when needle 2090 is rotated in direction 2001 , leading end 2092 of needle 2090 is received in correction recess 1110 .

[0076] refer to Fig.21A and Fig. 21B, the leading end 2092 of the needle 2090 may reach the surface 2104 of the grooved roller 158 before the correction recess 1110 has rotated into position to receive the leading end 2092 of the needle 2090. Since the radius R' of the needle 2090 is less than an integer multiple of the radius r of the grooved roller 158, as previously described, the needle 2090 may complete the rotation before the grooved roller having a radius r (which is less than half the radius of the needle 2090 in this example) completes two rotations. Therefore, it is possible that the leading end 2092 of the needle 2090 may reach the surface 2104 of the grooved roller 158 before the correction recess 1110 is in position to receive the leading end 2092 of the needle 2090. Reference Fig.21A , the leading end 2092 of the needle 2090 can therefore impact the surface 2104 of the grooved roller 158 outside the correction recess 1110.

[0077] However, reference Fig. 21B , as the grooved roller 158 continues to rotate in the direction 2101 that is counter-rotating to the roller 156, the correction recess 1110 rotates under the leading end 2092 of the needle 2090. Therefore, even if the leading end 2092 of the needle 2090 having a radius R' should be in position to engage the correction recess 1110 before the correction recess 1110 is in position to receive the leading end 2092, the leading end 2092 will slide along the surface 2104 of the grooved roller 158 until it can slide into the correction recess 1110.

[0078] Even if the leading end 2092 should reach the gap 2125 (between the surface 2104 of the grooved roller 158 and the surface of the opposing roller 156) before the leading end 2092 is received in the correction recess 1110 Fig.21A ), the needle 2090 also cannot slide into the gap 2125 between the rollers 156 and 158. It should be recalled and understood that the spiral needle 180 or 2090 is sized to fit between the rollers 156 and 158 only when received within the groove 159 of the grooved roller 159. Therefore, the needle 2090 is too wide to fit into the gap 2125. Therefore, the leading end 2092 of the needle 2090 will slide along the surface 2104 of the grooved roller 158 until the correction recess 1110 rotates under the leading end 2092 of the needle 2090. At this time, the leading end 2092 of the needle 2090 will be captured by the correction recess 1110 and guided into the groove 159, as previously described with reference to FIG. Figures 11 to 18 described.

[0079] In various embodiments, the roller mechanism 150 can be selectively detached from and attached to the motor drive 120. Thus, the roller mechanism 150 can be modified to engage needles of different sizes for hygienic reasons and / or as further described below. As previously described, the proximal end 152 of the frame 154 of the roller mechanism 150 engages the distal end 132 of the shaft 130. Fig. 22, in various embodiments, the roller mechanism 150 may thus be able to disengage the engagement of the proximal end 152 of the roller mechanism 150 with the proximal end 132 of the shaft 130. The roller mechanism 150 (including the frame 154, the rollers 156 and 158, and the needle 180) may be considered a detachable and replaceable suture barrel 2200. Thus, the distal end 132 of the shaft 130 may include a shaft coupling 2230 configured to engage the support coupling 2210 at the proximal end 152 of the frame 150. The couplings 2230 and 2210 may include a tongue-and-groove arrangement or another structure to frictionally and / or mechanically engage the distal end 132 of the shaft 130 with the proximal end 152 of the frame 154.

[0080] Still reference Fig. 22 In various embodiments, the shaft 130 may support one or more drive members 2260 and 2270 to drive the motor 310 ( Figure 3 ) transmits the rotational force. The drive members 2260 and 2270 may include a rigid or semi-rigid shaft or a flexible drive cable. The drive members 2260 and 2270 may be coupled to the motor 310 in different ways. In various embodiments, the drive members 2260 and 2270 may be connected to a gear box (not shown) so that the drive members 2260 and 2270 rotate in reverse in response to the rotation of the motor 310 so as to rotate the rollers 156 and 158 in reverse, respectively. Other embodiments may include only a single drive member 2260 or 2270 to transmit the rotational force from the motor 310 to one of the rollers 156 or 158. As previously described, the rollers 156 and 158 may be coupled by a gear mechanism (not shown) housed at or within the frame 154 so that one of the rollers 156 or 158 receiving the rotational force from the drive member 2260 or 2270 will cause the other roller to rotate in reverse. As also described, when one of the rollers 156 or 158 engages the drive member 2260 or 2270, the frictional engagement of the rollers 156 and 158 with the needle 180 will cause the other of the rollers to rotate in the opposite direction. Either of these configurations may be used whether the roller mechanism 150 is fixedly attached to the motor drive 110 or if the roller mechanism 150 is part of the suture barrel 2200 that is detachable from the motor drive 110.

[0081] Specifically, when the motor drive 110 is selectively detachable from and coupled to the suture barrel 2200, the one or more drive members 2260 and 2270 must be detachable from and attached to the rollers 156 and 158. In various embodiments, at least one of the rollers 156 and / or 158 includes a shaft 2256 and / or 2266, respectively, extending from the rollers 156 and / or 158 through the frame 154. The shafts 2256 and / or 2268 can be engaged by the drive members 2260 and / or 2270, respectively. For the purposes of the remainder of this specification, it should be understood that there can be one drive member 2260 or 2270 or two drive members 2260 and 2270 to engage one shaft 2256 or 2266 or two shafts 2256 and 2266, respectively.

[0082] To facilitate the transfer of rotational force from the drive members 2260 and / or 2270 to the shafts 2256 and / or 2266, each of the shafts 2256 and / or 2266 may include a drive coupling 2257 and 2267, respectively. The drive couplings 2257 and 2267 include faceted ends 2259 and / or 2269. The faceted ends 2259 and / or 2269 may include a shaped outer end, such as Fig. 22 The hexagonal ends shown may alternatively include supporting gear surfaces or other ends suitable for receiving rotational forces via drive members 2260 and / or 2270. Drive members 2260 and / or 2270 may include faceted ends 2262 and 2272 to engage faceted ends 2259 and 2269 of drive couplings 2266 and 2268, respectively. In various embodiments, faceted ends 2262 and 2272 of drive members 2260 and 2270 may include inwardly facing sockets to engage outwardly facing ends of drive couplings 2257 and 2267, respectively. Thus, when the motor drive 110 is engaged with the suture barrel 2200, wherein the distal end 132 of the shaft 130 engages the proximal end 152 of the frame 150, the faceted ends 2262 and / or 2272 of the drive members 2260 and / or 2270 engage the faceted ends 2259 and 2269 of the drive couplings 2257 and / or 2267, respectively.

[0083] As previously described, when using interchangeable suture barrels 2200, different barrels may have needles of different sizes for different applications. For example, a suture barrel with a needle of a smaller spiral radius may be used to form a small suture to close a small wound or incision. Alternatively, a suture barrel with a needle of a larger spiral radius may be used to form a larger suture to close a larger wound or incision. The suture barrel may have rollers of different sizes. In order to accommodate needles of different sizes, the pitch of the grooves of the grooved roller and the pitch of the needle should be matched proportionally to ensure that the needle is properly aligned with the grooves when the grooved roller rotates. In addition, it may be advantageous to use rollers of different sizes to support needles of different sizes. For example, in order to suture a small incision, a needle with a small spiral radius may be desired so that the suture closely matches the edge of the wound or incision to be closed. Therefore, at least the roller around which the needle rotates should have a smaller radius to accommodate a needle with a smaller spiral radius. Accordingly, when a larger needle is desired to form sutures to close larger wounds or incisions, a larger roller may be desired to provide a wider surface that frictionally engages the needle as it rotates to form the sutures.

[0084] refer to Fig.23 , two different sized suture barrels 2310 and 2311 support different sized needles 2380 and 2381 having different spiral radii R and R', respectively. Each of the suture barrels 2310 and 2311 includes a support coupling 2210 configured to engage the shaft coupling 2230 of the shaft 130 so that the suture barrels 2310 and 2311 can be mechanically supported by the shaft 130. Both the suture barrels 2310 and 2311 include the same size frame 154. However, it should be understood that the frames of the suture barrels 2310 and 2311 do not need to have the same size, as long as the frames are equally capable of engaging the shaft 130.

[0085] Suture barrels 2310 and 2311 each include a shaft 2268 having a faceted end 2269 to engage a faceted end 2272 of a drive member 2270 to provide a rotational force to the roller. Figure 1 Compared to the suture barrel 2200 of the present invention, the suture barrels 2310 and 2311 are actuated by a single drive member 2270, wherein the gears between the rollers or the frictional engagement with the needle cause the two rollers to rotate in opposite directions, as previously described. The shafts 2268 and the faceted ends 2269 of the suture barrels 2310 and 2311 are equivalent to supporting the interchangeability of the suture barrels 2310 and 2311 with the drive member 2270.

[0086] Suture barrel 2310 has a grooved roller 2358 of radius r and an opposing roller 2356 around which a needle 2380 of radius R rotates. Suture barrel 2311 has a grooved roller 2359 of radius r' and an opposing roller 2357 around which a needle 2381 of radius R' rotates. The spiral radius R' is greater than the spiral radius R, so that suture barrel 2311 is suitable for forming larger sutures than suture barrel 2310. For both suture barrels 2310 and suture barrels 2311, the pitch of the grooves in the grooved rollers 2358 and 2359 and the spiral needles 2380 and 2381, respectively, are proportionally matched. When the motor drive ( Fig.23 The diameters r and r' are selected to allow the needles 2380 and 2381 to rotate, respectively, to form a single suture when the rollers 2356 and 2357 (not shown) engage to rotate the needles 2380 and 2381. In various embodiments, the rollers 2356 and 2357 about which the needles 2380 and 2381 rotate, respectively, may have the same size or different sizes, provided that the rollers 2356 and 2357 provide suitable frictional engagement with the needles 2380 and 2381 to actuate the rotation of the needles 2380 and 2381.

[0087] Although only two sizes of suture barrels 2310 and 2311 are shown, it should be understood that there may be any number of sizes of suture barrels to form sutures of any size. Fig. 22 Not shown, each of needles 2380 and 2381 will engage with the filament to effectuate the formation of a suture.

[0088] Additional references Fig.24 , the supply tray 2400 supports a plurality of interchangeable suture tubes 2411-2418. The supply tray 2400 may include a bracket 2420 to frictionally engage the sides of the suture tubes to hold the suture tubes 2411-2418 in place until they are engaged by the motor drive 110 and removed from the supply tray 2400 for use. Fig.24 As further described, in various embodiments, the supply tray 2400 utilizes the support couplings and drive couplings presented ( Fig.24 The suture barrels 2411-2418 are supported by the motor driver 110 (not shown) so that the motor driver 110 can engage any one of the suture barrels 2411-2418 without the user having to handle or touch the supply barrels 2411-2418. The user does not have to handle or touch the supply barrels 2411-2418 to prevent the suture barrels 2411-2418 from being contaminated or infected by bacteria or other substances from the user's hands. To this end, the supply tray 2400 can be covered with a sanitary wrap 2402 (indicated by dotted lines) to seal the supply tray. Similarly, the motor driver 110 (which can also be held to the surface of the supply tray 2400 by the bracket 2422) can be hygienically present on the supply tray 2400.

[0089] The suture barrels 2411-2418 supported by the supply tray 2400 may have different sizes to enable an operator to select one or more suture barrels that are appropriate for the present patent application. For example, the suture barrel 2410 includes a needle 2431 that is smaller than the needle 2433 of the suture barrel 2413 (and therefore may be a smaller roller, as previously described). Similarly, the suture barrel 2417 includes a needle 2437 that is larger than the needle 2433 of the suture barrel 2413. Thus, the operator can select from the available suture barrels 2411-2418 to select a suture barrel that will form a suture of a size suitable for the present patent application.

[0090] Additional references Fig.25 , the supply tray 2400 presents the ends of the suture tubes 2411-2413, wherein the support coupling 2210 and each of the drive couplings 2266 and 2268 thereof are presented as being accessible by the motor drive 110. Fig.24 As shown, the suture barrels 2411-2413 are mechanically held to the supply tray 2400, wherein the bracket 2420 holds each of the suture barrels 2411-2413 between the two. Alternatively or in addition, the supply tray 2400 may include a base 2501 that forcibly engages the frame 154 of each of the suture barrels 2411-2413 to hold the suture barrels 2411-2413 in place. For example, the base 2501 can be an adhesive pad or a magnet that is configured to engage the frame 154 of each of the suture barrels 2411-2413 to hold the suture barrels 2411-2413 in place until it is engaged by the motor drive 110 to remove it from the supply tray 2400.

[0091] Additional references Fig.26A and Fig.26B , needle 180 passes through the roller ( Fig.26A and Fig.26B The rotation of the body 2600 (not shown) forms a suture 2650 to close an opening 2601 in the body 2600, such as a wound or incision. Fig.26A As shown, needle 180 is about to be rotated in direction 2602 to pierce body 2600 adjacent opening 2601. Because needle 180 is spiral, the rotation of needle 180 causes needle 180 to be pulled in direction 2603. Leading end 512 of needle 180 pierces body 2600. The rotation of needle 180 pulls shaft 510 of needle 180 through the body until trailing end 514 of pulling filament 190 emerges from body 400. As shown in FIG. Fig.26B As shown, after needle 180 is rotated in direction 2602 and thus moved in direction 2601 , loops of filament 190 have formed stitches 2650 through body 2600 .

[0092] Additional references Fig. 27 , in various embodiments, an exemplary method 2700 is provided for suturing an object by rotating a spiral needle, as described above. Method 2700 starts at frame 2705. At frame 2710, a first roller of two roughly parallel rollers is positioned adjacent to a body, wherein the two roughly parallel rollers engage a spiral needle between the two. The needle pulls a filament from a rear end and has a first spiral radius greater than the radius of the first roller, and the needle can rotate around the first roller so that the needle can pierce and extend through the body. At frame 2720, an input is provided to a motor operably connected to at least one of the two roughly parallel rollers. The input rotates the motor so as to rotate the two roughly parallel rollers so as to complete at least one rotation of the needle, thereby forming a single suture. Method 2700 ends at frame 2725.

[0093] Additional references Fig.28 In various embodiments, an exemplary method 2800 for forming a suture using an interchangeable suture barrel is provided. Method 2800 begins at frame 2805. At frame 2810, a suture barrel is engaged with a motor driver, the suture barrel supports a pair of roughly parallel rollers, and the roughly parallel rollers are rotatably engaged with the axis of the spiral needle between the two. The needle can rotate around a first roller and has a spiral radius greater than the roller radius of the first roller so that the needle can pierce and extend through a body disposed adjacent to the first roller. At frame 2820, a first roller of two roughly parallel rollers is positioned adjacent to the body. At frame 2830, an input is provided to the motor driver, wherein the input causes the motor driver to rotate, and the two roughly parallel rollers rotate so that the needle completes at least one rotation, thereby forming a single suture. Method 2800 ends at frame 2835.

[0094] The subject matter disclosed in this invention includes but is not limited to the subject matter described in the following clauses:

[0095] 1. A device, comprising:

[0096] a roller mechanism configured to counter-rotatably support two generally parallel rollers configured to engage therebetween an axis of a spiral needle, the needle having a tip at a leading end, pulling a filament from a trailing end, and having a first spiral radius, the needle being capable of rotating about a first roller, the roller radius of the first roller being smaller than the spiral radius of the needle, so that the needle can pierce a body and pull the filament through the body disposed adjacent to the first roller;

[0097] a motor drive operably coupled to the roller mechanism to transmit a rotational force to rotate the two generally parallel rollers; and

[0098] A controller is operably coupled to the motor drive and configured to cause the needle to complete at least one rotation to form a single stitch in the body.

[0099] 2. An apparatus according to claim 1, wherein the motor drive supports the roller mechanism at a certain offset relative to the roller mechanism, wherein the roller mechanism can be positioned at a close distance from the body while the handle remains positioned at a distance from the body greater than the close distance.

[0100] 3. The apparatus of clause 1, wherein:

[0101] the first roller comprising a planar surface configured to rollably engage a first face of the shaft of the needle; and

[0102] The second roller includes a grooved surface defining a groove configured to at least partially receive an opposing surface of the shaft of the needle.

[0103] 4. An apparatus according to clause 3, wherein the bottom of the groove has a bottom width at least as wide as the second side and is defined by sides of the groove opening extending to the grooved surface, the grooved surface having a surface width wider than the second side.

[0104] 5. The apparatus of clause 3, wherein the pitch of the grooves matches the pitch of the needles in proportion to the ratio of the radius of the needles to the radius of the second roller.

[0105] 6. An apparatus according to claim 3, wherein the second roller further defines a correction recess, the correction recess being defined by lateral surfaces at the front end of the groove, the correction recess tapering to the width of the groove at the front end of the groove, and wherein when the leading end is received in the correction recess in response to the reverse rotation of the first roller and the second roller, at least one of the lateral surfaces engages the leading end and guides the leading end into the front end of the groove.

[0106] 7. The apparatus of clause 1, wherein the roller mechanism comprises an open distal end, wherein the ends of the two substantially parallel rollers are exposed, wherein the rear end of the needle

[0107] The end faces toward the open distal end to pull the filament from the open distal end.

[0108] 8. The apparatus of clause 1, wherein the roller mechanism is configured to receive the rotational force from the motor drive and apply the rotational force to at least one of the first roller and the second roller.

[0109] 9. The apparatus of clause 1, wherein the controller is configured to receive a momentary input configured to cause the needle to complete at least one rotation to form a single suture in the body.

[0110] 10. The apparatus of clause 1, wherein the controller is configured to receive a reverse input configured to cause the motor driver to rotate the needle in a reverse direction.

[0111] 11. A system, comprising:

[0112] a helical needle having a helical radius, the needle having a tip at a first end of the shaft and a filament joined to a second end;

[0113] a roller mechanism configured to counter-rotatably support two generally parallel rollers configured to engage the axis of the needle therebetween, the needle being capable of rotating about a first roller, the roller radius of the first roller being smaller than the spiral radius of the needle, so that the first end of the needle can pierce the body and pull the filament through the body disposed adjacent to the first roller; and

[0114] A motor driver, the motor driver comprising:

[0115] a motor operably coupled to the roller mechanism to transmit a rotational force to rotate the two generally parallel rollers;

[0116] a controller operably coupled to the motor and configured to cause the needle to complete at least one rotation to form a single stitch in the body; and

[0117] An interaction device is configured to enable the motor drive to be supported by one of a human user and a robotic actuator.

[0118] 12. A system according to claim 11, wherein the motor drive supports the roller mechanism at a certain offset relative to the roller mechanism, wherein the roller mechanism can be positioned at a close distance from the body while the handle remains positioned at a distance from the body greater than the close distance.

[0119] 13. A system according to clause 11, wherein:

[0120] The first roller includes a planar surface configured to rollably engage a first face of the needle shaft; and

[0121] The second roller includes a grooved surface defining a groove configured to at least partially receive an opposing second face of the shaft of the needle.

[0122] 14. The system of clause 13, wherein the bottom of the groove has a bottom width at least as wide as the second side and is defined by sides of the groove opening extending to the grooved surface, the grooved surface having a surface width wider than the second side.

[0123] 15. The system of clause 13, wherein the pitch of the grooves matches the pitch of the needles in proportion to a ratio of the radius of the needles to the radius of the second roller.

[0124] 16. An apparatus according to claim 13, wherein the second roller further defines a correction recess, the correction recess being defined by lateral surfaces at the front end of the groove, the correction recess tapering to the width of the groove at the front end of the groove, and wherein when the leading end is received in the correction recess in response to the reverse rotation of the first roller and the second roller, at least one of the lateral surfaces engages the leading end and guides the leading end into the front end of the groove.

[0125] 17. The system of clause 11, wherein the roller mechanism comprises an open distal end, wherein the ends of the two substantially parallel rollers are exposed, wherein the rear end of the needle

[0126] The end faces toward the open distal end to pull the filament from the open distal end.

[0127] 18. The system of clause 11, wherein the controller is configured to receive a momentary input configured to cause the needle to complete at least one rotation to form a single suture in the body.

[0128] 19. The system of clause 11, wherein the controller is configured to receive a reverse input configured to cause the motor driver to rotate the needle in a reverse direction.

[0129] 20. A method comprising:

[0130] positioning a first of two generally parallel rollers adjacent to the body, wherein the two generally parallel rollers engage a helical needle therebetween, the needle drawing the filament from a rearward end and having a first helical radius greater than a radius of the first roller, wherein the needle is rotatable about the first roller to enable the needle to pierce and extend through the body; and

[0131] and

[0132] An input is provided to a motor operably coupled to at least one of the two generally parallel rollers, wherein the input rotates the motor to rotate the two generally parallel rollers to cause the needle to complete at least one rotation to form a single stitch.

[0133] 21. A device, comprising:

[0134] a helical needle having a first helical radius, the needle having an axis and pulling the filament from a rear end;

[0135] two generally parallel rollers configured to engage the axis of the needle therebetween, the first roller having a roller radius that is less than the helical radius of the needle to enable the needle to rotate about the first roller to pierce a body disposed adjacent the first roller and draw the filament through the body; and

[0136] a frame configured to counter-rotatably support the roller and comprising:

[0137] a support coupling configured to removably receive a distal end of a support shaft extending from the drive mechanism; and

[0138] A drive coupling is configured to removably receive a distal end of a drive member extending from the drive mechanism, the drive member being configured to provide the rotational force to at least one of the rollers.

[0139] 22. The apparatus of clause 21, further comprising at least one drive member configured to removably engage the drive mechanism.

[0140] 23. The apparatus of clause 21, wherein the drive member comprises a shaft extending from an end of one of the rollers and having a faceted end configured to removably engage the drive mechanism.

[0141] 24. The apparatus of clause 21, wherein the rack is engageable by a supply tray, wherein

[0142] The supply tray is configured to apply a force to the frame to hold the frame in place unless the support shaft engages the frame and disengages the frame from the supply tray.

[0143] 25. The apparatus of clause 21, wherein:

[0144] the first roller comprising a planar surface configured to rollably engage a first side of the shaft of the needle; and

[0145] The second roller includes a grooved surface defining a groove configured to at least partially receive the second side of the shaft of the needle.

[0146] 26. Apparatus according to clause 25, wherein the pitch of the grooves matches the pitch of the needles in proportion to the ratio of the radius of the needles to the radius of the second roller.

[0147] 27. An apparatus according to claim 21, wherein the frame includes an open distal end at an end opposite to the support link, and wherein the needle is received between the rollers, with the tail end of the needle facing the open distal end to pull the filament from the open distal end.

[0148] 28. A system, comprising:

[0149] A driving mechanism, the driving mechanism comprising:

[0150] shell;

[0151] a motor, the motor being supported by the housing;

[0152] a support shaft extending from the housing; and

[0153] a drive member coupled to the motor and supported by the shaft, the drive member being configured to transmit a rotational force from the motor; and

[0154] A suture barrel, the suture barrel comprising:

[0155] a helical needle having a first helical radius, the needle having an axis and pulling the filament from a rear end;

[0156] two generally parallel rollers configured to engage the axis of the needle therebetween, the first roller having a roller radius that is less than the helical radius of the needle to enable the needle to rotate about the first roller to pierce a body disposed adjacent the first roller and draw the filament through the body; and

[0157] a frame configured to counter-rotatably support the roller and comprising:

[0158] a support coupling configured to detachably receive the distal end of the support shaft; and a drive coupling configured to detachably receive the distal end of the drive member and transmit the rotational force to at least one of the rollers.

[0159] 29. The system of clause 28, further comprising a controller, wherein in response to user input, the suturing controller rotates the motor through a plurality of revolutions to cause the needle to complete at least one rotation to form a single suturing.

[0160] 30. The system of clause 28, further comprising a plurality of switchable suture cartridges configured to interchangeably receive the shaft of the handle and the drive coupling.

[0161] 31. A system according to claim 30, wherein the plurality of switchable suture barrels include barrels of different sizes, wherein each of the barrels of different sizes supports a needle having a different helical radius, wherein each of the plurality of switchable suture barrels is configured to form sutures of different sizes.

[0162] 32. The system of clause 31, wherein the first rollers of the different sized bobbins have different roller radii.

[0163] 33. A system according to clause 31, wherein the drive coupling of each of the suture barrels is configured to cause the needle to complete the at least one rotation to form the single suture regardless of the size of the spiral radius of the needle.

[0164] 34. The system of clause 33, wherein the drive coupling comprises at least one faceted member coupled to one of the rollers to receive a faceted end of the drive member.

[0165] 35. A system according to clause 28, wherein:

[0166] the first roller comprising a planar surface configured to rollably engage a first side of the shaft of the needle; and

[0167] The second roller includes a grooved surface defining a groove configured to at least partially receive a second side of the shaft of the needle.

[0168] 36. The system of clause 28, wherein the pitch of the grooves matches the pitch of the needles in proportion to a ratio of the radius of the needles to the radius of the second roller.

[0169] 37. A system according to clause 28, wherein the suture barrel includes an open distal end, wherein the ends of the two substantially parallel rollers are exposed, and wherein the rear end of the needle faces the open distal end to pull the filament from the open distal end.

[0170] 38. A method comprising:

[0171] engaging a suture barrel with a motor drive, the suture barrel supporting a pair of generally parallel rollers rotatably engaging the shaft of a helical needle therebetween, the needle rotatable about a first roller and having a helical radius greater than a roller radius of the first roller to enable the needle to pierce and extend through a body disposed adjacent the first roller;

[0172] positioning the first of two generally parallel rollers adjacent the body; and

[0173] An input is provided to the motor drive, wherein the input causes the motor drive to rotate and the two generally parallel rollers to rotate so as to cause the needle to complete at least one rotation to form a single stitch.

[0174] 39. The method according to claim 38 further includes selecting the suture barrel from one of a plurality of suture barrels of different sizes, wherein each of the plurality of suture barrels supports a needle having a different spiral radius, and wherein each of the plurality of switchable suture barrels is configured to form sutures of different sizes.

[0175] 40. The method of clause 39, further comprising coupling the motor drive to the selected suture barrel.

[0176] It should be understood that the detailed description set forth above is merely illustrative in nature, and variations that do not depart from the gist and / or spirit of the subject matter protected by the claims are intended to be within the scope of the claims. Such variations should not be considered to depart from the spirit and scope of the subject matter protected by the claims.

Claims

1. A device for suturing, the device comprising: a roller mechanism configured to counter-rotatably support two substantially parallel first and second rollers, the two substantially parallel first and second rollers configured to engage therebetween an axis of a spiral needle, the needle having a tip at a leading end, pulling a filament from a trailing end, and having a first spiral radius, the needle being capable of rotating about the first roller, the roller radius of the first roller being smaller than the spiral radius of the needle, so that the needle can pierce a body and pull the filament through the body disposed adjacent to the first roller; a motor drive operably coupled to the roller mechanism to transmit a rotational force to rotate the two substantially parallel first and second rollers; and a controller operably coupled to the motor driver and configured to cause the needle to complete at least one rotation to form a single stitch in the body; The first roller and the second roller rotate in opposite directions to cause the needle to rotate eccentrically around the first roller, and based on the ratio of the radius of the needle to the radius of the second roller, the pitch of the groove on the second roller is proportionally matched to the pitch of the needle to ensure that when the first roller and the second roller rotate together to actuate the needle, the needle is aligned with the groove of the second roller.

2. The apparatus of claim 1 , wherein the motor drive supports the roller mechanism at an offset relative to the roller mechanism, wherein the roller mechanism can be positioned at a close distance from the body while the handle remains positioned at a distance from the body greater than the close distance.

3. The apparatus according to claim 1, wherein: the first roller comprising a planar surface configured to rollably engage a first face of the shaft of the needle; and The second roller includes a grooved surface defining a groove configured to at least partially receive an opposing second face of the shaft of the needle.

4. The apparatus of claim 3, wherein the bottom of the groove has a bottom width at least as wide as the second face and is defined by sides of the groove opening extending to the grooved surface, the grooved surface having a surface width wider than the second face.

5. An apparatus according to claim 3, wherein the second roller further defines a correction recess, the correction recess being defined by lateral surfaces at the front end of the groove, the correction recess tapering to the width of the groove at the front end of the groove, and wherein when the leading end is received in the correction recess in response to the reverse rotation of the first roller and the second roller, at least one of the lateral surfaces engages the leading end and guides the leading end into the front end of the groove.

6. The apparatus of claim 1, wherein the roller mechanism comprises an open distal end, wherein ends of the two substantially parallel rollers are exposed, wherein the rear end of the needle faces the open distal end to pull the filament from the open distal end. 7 . The apparatus of claim 1 , wherein the roller mechanism is configured to receive the rotational force from the motor driver and apply the rotational force to at least one of the first roller and the second roller.

8. The apparatus of claim 1, wherein the controller is configured to receive a momentary input configured to cause the needle to complete at least one rotation to form a single suture in the body.

9. The apparatus of claim 1, wherein the controller is configured to receive a reverse input configured to cause the motor driver to rotate the needle in a reverse direction.

10. A system for suturing, the system comprising: a helical needle having a helical radius, the needle having a tip at a first end of a shaft and a filament joined to a second end; a roller mechanism configured to counter-rotatably support two substantially parallel first and second rollers, the two substantially parallel first and second rollers configured to engage the axis of the needle therebetween, the needle being capable of rotating about the first roller, the roller radius of the first roller being smaller than the spiral radius of the needle, so that the first end of the needle can pierce the body and pull the filament through the body disposed adjacent to the first roller; and A motor driver, the motor driver comprising: a motor operably coupled to the roller mechanism to transmit a rotational force to rotate the two substantially parallel first and second rollers; a controller operably coupled to the motor and configured to cause the needle to complete at least one rotation to form a single stitch in the body; and an interaction device configured to enable the motor drive to be supported by one of a human user and a robotic actuator; The first roller and the second roller rotate in opposite directions to cause the needle to rotate eccentrically around the first roller, and based on the ratio of the radius of the needle to the radius of the second roller, the pitch of the groove on the second roller is proportionally matched to the pitch of the needle to ensure that when the first roller and the second roller rotate together to actuate the needle, the needle is aligned with the groove of the second roller.

11. The system of claim 10, wherein the motor drive supports the roller mechanism at an offset relative to the roller mechanism, wherein the roller mechanism can be positioned at a close distance from the body while the handle remains positioned at a distance from the body greater than the close distance.

12. The system of claim 10, wherein: The first roller includes a planar surface configured to rollably engage a first face of the needle shaft; and The second roller includes a grooved surface defining a groove configured to at least partially receive an opposing second face of the shaft of the needle.

13. The system of claim 12, wherein the bottom of the groove has a bottom width at least as wide as the second side and is defined by sides of the groove opening extending to the grooved surface, the grooved surface having a surface width wider than the second side.

14. A system according to claim 12, wherein the second roller further defines a correction recess, the correction recess being defined by lateral surfaces at the front end of the groove, the correction recess tapering to the width of the groove at the front end of the groove, and wherein when the leading end of the needle is received in the correction recess in response to the reverse rotation of the first roller and the second roller, at least one of the lateral surfaces engages the leading end and guides the leading end into the front end of the groove.

15. The system of claim 10, wherein the roller mechanism comprises an open distal end, wherein ends of the two substantially parallel first and second rollers are exposed, wherein a rear end of the needle faces the open distal end to pull the filament from the open distal end.

16. The system of claim 10, wherein the controller is configured to receive a momentary input configured to cause the needle to complete at least one rotation to form a single suture in the body.

17. The system of claim 10, wherein the controller is configured to receive a reverse input configured to cause the motor driver to rotate the needle in a reverse direction.

Images