Electrically weldable suture materials and apparatus and methods for forming weld suture loops and other welded structures

Abstract

The invention relates to electrically weldable suture materials and apparatuses and methods for forming weld suture loops and other welded structures. A device for positioning within a body of an animal, the device comprising a first portion and a second portion that can be positioned in contact with each other, the first portion and the second portion each comprising a biocompatible electrically conductive thermoplastic material, the device comprises a first portion and a second portion, such that when the device is positioned within the body of an animal and an electrical current flows from the first portion to the second portion, heat is generated by electrical resistance at a contact point between the first portion and the second portion in order to melt regions of the first portion and the second portion, and when the electrical current is terminated later, heat is generated by electrical resistance at a contact point between the first portion and the second portion in order to melt the regions of the first portion and the second portion. The melted regions of the first portion and the second portion re-solidify such that a weld is formed between the first portion and the second portion.

Description

[0001] This application is a divisional application of Chinese patent application 2021113582049, whose application date is February 7, 2020 and whose name is “Electrically weldable suture materials and devices and methods for forming welded suture loops and other welded structures”, which is in turn a divisional application of Chinese patent application 202080026730.2 (international application number is PCT / US2020 / 017167) whose international application date is February 7, 2020 and whose name is “Electrically weldable suture materials and devices and methods for forming welded suture loops and other welded structures”.

[0002] applicant

[0003] Egan Design LLC.

[0004] Inventor

[0005] Thomas D. Egan.

[0006] References to pending prior patent applications

[0007] This patent application:

[0008] (i) is a continuation-in-part of co-pending prior U.S. patent application Ser. No. 16 / 190,915 filed on Nov. 14, 2018 (Attorney Docket No. EGAN-1) by Egan Design LLC and Thomas D. Egan for “ELECTRICALLY WELDABLE SUTURE MATERIAL, AND APPARATUS AND METHOD FOR FORMING WELDED SUTURE LOOPS AND OTHER WELDED STRUCTURES,” which claims a patent in the prior art filed on Nov. 14, 2018 by Thomas Egan for “ELECTRICALLY WELDABLE SUTURE MATERIAL, AND APPARATUS AND METHOD FOR FORMING WELDED SUTURE LOOPS AND OTHER WELDED STRUCTURES.” STRUCTURES)” filed on November 14, 2017, the benefit of prior U.S. Provisional Patent Application Serial No. 62 / 586,108 (Attorney Docket No. US-7495-2P2); and

[0009] (ii) Claiming the benefit of pending prior U.S. provisional patent application Ser. No. 62 / 802,362, filed on Feb. 7, 2019 (Attorney Docket No. EGAN-2PROV), filed by Egan Design LLC and Thomas D. Egan for “ELECTRICALLY WELDABLE SUTURE MATERIAL, AND APPARATUS AND METHOD FOR FORMING WELDED SUTURE LOOPS AND OTHERWELDED STRUCTURES.”

[0010] The three (3) aforementioned patent applications are hereby incorporated by reference. Technical Field

[0011] The present invention relates to the use of electrical energy to fuse polymer materials into useful shapes, and more specifically to the use of electrical energy to fuse polymer materials into useful shapes within an animal (which term is intended to include humans and other mammals), and even more specifically to the use of electrical energy to fuse polymer sutures and other structures for surgical joining of tissues within the body (such as for surgical suturing and closure of blood vessels or organs) and / or for surgical ligation of tissues within the body (such as surgical ligation of blood vessels or organs). This application is a divisional application, the parent application number of which is 202080026730.2, the filing date of which is February 7, 2020, and the name of the invention is "Electrically weldable suture materials and devices and methods for forming welded suture loops and other welded structures". Background Art

[0012] During surgical procedures, sutures are often used to secure edges of tissue together in order to maintain those tissue edges in close proximity to one another until substantially complete healing occurs. Sutures are often guided through portions of tissue to be joined and formed into a single loop or stitch, after which they are knotted or otherwise secured (e.g., using crimp fasteners) in order to maintain the edges of the tissue in a proper relationship relative to one another for healing to occur.

[0013] In some cases, a series of individual, separate stitches with substantially uniform tension is created in the tissue. Because the stitches are individual and separate from one another, removing one stitch does not require removing all stitches or causing the remaining stitches to loosen. However, each individual stitch requires a separate knot (or some other stitch closure device, e.g., a crimp fastener) to secure the stitch in place around the wound.

[0014] Sometimes it is necessary or desirable to close a wound using sutures without having to form a knot in the suture or utilizing a loop closure device (e.g., crimp fasteners), such as, for example, in surgical repair of an organ or tissue where access to the repair site is limited. In these cases, the fusion loops of the sutures can be used to maintain the wound edges sufficiently close for a sufficient period of time to allow healing to occur.

[0015] Polymer sutures are particularly suitable for various fusion or bonding processes, such as, for example, by welding, wherein segments of the suture can be fused together upon application of sufficient heat to the segments of the suture to cause partial melting and fusion of the segments of the suture.

[0016] To date, efforts have been made to fuse segments of polymer suture together using either (i) direct application of heat, or (ii) application of ultrasonic energy.

[0017] Unfortunately, achieving welding via direct application of heat has two significant disadvantages. First, applying heat directly to the suture in situ can produce undesirable heating of the surrounding tissue. Second, with direct application of heat to the suture, it is difficult to selectively melt only the interface between the suture segments to be welded without melting the entire cross-section of the suture, which can severely weaken the suture.

[0018] For these reasons, it is generally preferred to apply non-thermal energy to the suture material in situ so as to cause local heating of the suture material in the area or section to be fused. Specifically, ultrasonic energy can be effectively applied to the section of the suture material to induce frictional heating of the section so as to fuse or weld the sections of the suture together. Although such ultrasonic welding of sutures can be an important improvement over direct thermal welding of sutures (i.e., ultrasonic welding only melts the portions of the sutures that are in contact with each other without melting the entire cross-section of the sutures, thereby maintaining the strength of the sutures), ultrasonic welding itself has two significant disadvantages. First, ultrasonic welding requires bulky and expensive equipment. Such equipment may not be compatible with certain types of surgical procedures and increases costs in any case. Second, due to the properties of ultrasonic transducers and waveguides, ultrasonic welding requires a straight path between the energy source and the welding site, so that it is incompatible with curved or flexible instruments.

[0019] In addition to the foregoing, in some cases it is necessary or desirable to ligate tissue such as a blood vessel or organ. Such ligation is typically accomplished using a suture that is passed around the tissue and then secured using a knot or closure device (e.g., a crimp fastener). Likewise, in some cases (e.g., where access to the ligation site is limited), it may be desirable to achieve ligation using a fused suture loop. And likewise, in some cases, welding may be difficult to achieve using direct application of heat or application of ultrasonic energy.

[0020] It is therefore an object of the present invention to provide a new and improved method for forming a connection (also referred to as a bond or weld) within the body which does not have the problems associated with the prior art. Summary of the invention

[0021] The present invention involves providing and using a new and improved method for forming a connection (also referred to as a bond or weld) within the body which does not have the problems associated with the prior art.

[0022] Among other things, the present invention includes providing and using new and improved methods and apparatus for producing suture welds of sufficient strength and reliability to replace suture knots or other loop closure devices.

[0023] An important aspect of the present invention involves the provision and use of a new polymeric biomaterial that is strong, biocompatible, and weldable using electrical energy (ie, an "electroweldable polymer").

[0024] Another important aspect of the present invention is the provision and use of a method for incorporating polymeric devices within the body to create medically useful structures.

[0025] Yet another important aspect of the present invention is the provision and use of devices for delivering and incorporating medically useful structures within the body.

[0026] Yet another important aspect of the present invention is the provision and use of novel medically useful structures including, but not limited to: (i) fusion rings of electrically weldable polymers; (ii) welded hemostatic clips of electrically weldable polymers; and (iii) continuously deliverable spike chains of electrically weldable polymer fasteners.

[0027] In one form of the invention, a device for positioning within the body of an animal is provided, the device comprising a first portion and a second portion that can be positioned in contact with each other, the first portion and the second portion both comprising a biocompatible electrically conductive thermoplastic material, so that when the device is positioned within the body of the animal and an electric current flows from the first portion to the second portion, heat is generated by resistance at the contact point between the first portion and the second portion so as to melt regions of the first portion and the second portion, and when the current is subsequently terminated, the melted regions of the first portion and the second portion solidify again so as to form a weld between the first portion and the second portion.

[0028] In one form of the invention, there is provided an apparatus for forming a weld between a first portion of biocompatible conductive thermoplastic material and a second portion of biocompatible conductive thermoplastic material, the apparatus comprising:

[0029] a first electrode;

[0030] a second electrode;

[0031] a structure for holding the first electrode and the second electrode opposite to each other and having a space between the first electrode and the second electrode for receiving the first portion and the second portion in contact with each other, wherein the structure is non-conductive; and

[0032] A circuit comprising a power supply and a switch, wherein the switch is configured such that closing of the switch applies a voltage potential across the first electrode and the second electrode, so that when the first part and the second part are positioned within the body of the animal and placed between the first electrode and the second electrode in contact with each other and the switch is then closed, heat is generated by the resistance at the contact point so as to melt areas of the first part and the second part, and when the switch is then opened, the melted portions of the first part and the second part solidify again so that a weld is formed at the contact point.

[0033] In one form of the invention, there is provided a method for forming a weld between two portions of a biocompatible electrically conductive thermoplastic material within the body of an animal, wherein the method comprises:

[0034] positioning a first portion and a second portion of a biocompatible electrically conductive thermoplastic material within the body of the animal between the first electrode and the second electrode such that the first portion contacts the first electrode, the second portion contacts the second electrode, and the first portion and the second portion of the biocompatible electrically conductive thermoplastic material contact each other;

[0035] applying a selected amount of current across the first electrode and the second electrode to generate a selected amount of heat through resistance at a contact point between the first portion and the second portion to cause a particular desired amount of melting of the first portion and the second portion;

[0036] and terminating the current across the first electrode and the second electrode so that the melted regions of the first portion and the second portion solidify again, so that a weld is formed at the contact point.

[0037] In one form of the invention, novel methods and apparatus for suturing tissue are provided.

[0038] In one form of the invention, there is provided an end effector for a suturing device, the end effector comprising:

[0039] a first arm having a tissue engaging surface;

[0040] a second arm having a tissue engaging surface;

[0041] At least one of the first arm and the second arm is configured to move: (i) toward the other of the first arm and the second arm to clamp tissue between the tissue engaging surface of the first arm and the tissue engaging surface of the second arm, and (ii) away from the other of the first arm and the second arm to release tissue clamped between the tissue engaging surface of the first arm and the tissue engaging surface of the second arm;

[0042] The second arm has an opening therein; and

[0043] a needle having a penetrating tip, the needle being configured to move: (i) toward the tissue engaging surface of the first arm so as to position the penetrating tip of the needle adjacent the tissue engaging surface of the first arm thereby penetrating tissue clamped between the tissue engaging surface of the first arm and the tissue engaging surface of the second arm, and (ii) away from the tissue engaging surface of the first arm so as to be withdrawn from tissue clamped between the tissue engaging surface of the first arm and the tissue engaging surface of the second arm;

[0044] The needle is configured to pass through the opening in the second arm as the needle moves toward the tissue engaging surface of the first arm and pass through the opening in the second arm as the needle moves away from the tissue engaging surface of the first arm.

[0045] In one form of the invention, a novel method and apparatus for ligating tissue is provided.

[0046] In one form of the invention, there is provided an apparatus for applying a suture to tissue, wherein the suture comprises a biocompatible electrically conductive thermoplastic material having a diameter, the apparatus comprising:

[0047] axis;

[0048] A jaw assembly comprising a first jaw member and a second jaw member, the first jaw member comprising a first tip and a first channel for slidably receiving a suture, the second jaw member comprising a second tip and a second channel for slidably receiving a suture, wherein at least one of the first jaw member and the second jaw member is pivotally mounted to be movable between: (i) at least one open position in which the first and second tips of the first and second jaw members are separated from each other by a gap; and (ii) a closed position in which the first and second channels form a continuous path;

[0049] A gripping assembly comprising a first gripper and a second gripper, the first gripper comprising a first gripping surface, the second gripper comprising a second gripping surface, wherein at least one of the first gripper and the second gripper is movably mounted to a shaft so as to be movable between: (i) a release position in which the first gripping surface and the second gripping surface of the first gripper and the second gripper are separated from each other by a gap that is larger than a diameter of a suture that is used to form a suture loop; and (ii) a gripping position in which the first gripping surface and the second gripping surface of the first gripper and the second gripper are separated from each other by a distance that is smaller than a diameter of a suture that is used to form a suture loop;

[0050] An electrode assembly comprising an electrode for selectively applying an electrical potential to a suture clamped between first and second gripping surfaces of a first and second gripping members, wherein the electrode is movably mounted to a shaft so as to be movable between: (i) a non-welding position in which the electrode is spaced from the suture clamped between the first and second gripping surfaces of the first and second gripping members; and (ii) a welding position in which the electrode engages the suture clamped between the first and second gripping surfaces of the first and second gripping members; and an operating mechanism for selectively operating the gripping assembly and the electrode assembly in response to at least one of the first and second jaw members of the jaw assembly, wherein when the electrode assembly is in its non-welding position and the gripping assembly is in its released position and the jaw assembly is in its closed position and when the suture is positioned between the first and second gripping surfaces of the gripping assembly, progressive movement of at least one of the first and second jaw members of the jaw assembly toward at least one of its open positions sequentially results in:

[0051] (a) at least one of the first gripper and the second gripper moves from its release position to its gripping position;

[0052] (b) the electrode is moved from its non-welding position to its welding position; and

[0053] (c) At least one of the first gripper and the second gripper moves from its gripping position to its releasing position.

[0054] In one form of the invention, there is provided a medical device for applying a suture to tissue comprising:

[0055] A jaw assembly, a grip assembly, an electrode assembly, and an operating mechanism operably coupled to the jaw assembly, the grip assembly, and the electrode assembly;

[0056] The jaw assembly includes a first jaw member and a second jaw member,

[0057] The first jaw member includes a first tip and a first channel for a suture,

[0058] The second jaw member includes a second tip and a second channel for a suture,

[0059] At least one of the first jaw member and the second jaw member is movable between an open position and a closed position,

[0060] The open position is a position where the first and second tips of the first and second jaw members are separated by a gap, and

[0061] The closed position is a position in which the first and second channels of the first and second jaw members form a continuous channel for the suture;

[0062] The holding assembly includes a first holding device and a second holding device.

[0063] The first holder comprises a first holding surface,

[0064] The second holder includes a second holding surface,

[0065] At least one of the first holder and the second holder is movable between a release position and a holding position,

[0066] The release position is a position where the first gripping surface of the first gripper and the second gripping surface of the second gripper are separated from each other by a gap larger than the diameter of the suture, and

[0067] The gripping position is a position where the first gripping surface and the second gripping surface of the first gripper and the second gripper are separated from each other by a distance smaller than a diameter of the suture;

[0068] The electrode assembly includes an electrode configured to apply an electrical potential to a suture clamped between a first gripping surface and a second gripping surface of a first gripper and a second gripper,

[0069] The electrode can be moved between welding position and non-welding position.

[0070] The welding position is the position where the electrode engages the suture between the first and second gripping surfaces of the first and second grippers, and

[0071] The non-welding position is a position where the electrode is spaced from a suture line between the first holding surface and the second holding surface of the first holder and the second holder; and

[0072] The operating mechanism operates the grip assembly and the electrode assembly such that, with the electrode assembly in a non-welding position, the grip assembly in a released position, the jaw assembly in a closed position, and the suture positioned between the first gripping surface and the second gripping surface of the grip assembly, gradual movement of at least one of the first jaw member and the second jaw member toward the open position sequentially results in:

[0073] At least one of the first gripper and the second gripper moves from a release position to a gripping position, after which

[0074] The electrode is moved from the non-welding position to the welding position, and then

[0075] At least one of the first holder and the second holder moves from a holding position to a releasing position.

[0076] In one form of the invention, there is provided a method for applying a suture to tissue, wherein the suture comprises a biocompatible electrically conductive thermoplastic material having a diameter, the method comprising:

[0077] A device is provided, the device comprising:

[0078] axis;

[0079] A jaw assembly comprising a first jaw member and a second jaw member, the first jaw member comprising a first tip and a first channel for slidably receiving a suture, the second jaw member comprising a second tip and a second channel for slidably receiving a suture, wherein at least one of the first jaw member and the second jaw member is pivotally mounted to be movable between: (i) at least one open position in which the first and second tips of the first and second jaw members are separated from each other by a gap; and (ii) a closed position in which the first and second channels form a continuous path;

[0080] A gripping assembly comprising a first gripper including a first gripping surface and a second gripper including a second gripping surface, wherein at least one of the first gripper and the second gripper is movably mounted to a shaft so as to be movable between: (i) a release position in which the first gripping surface and the second gripping surface of the first gripper and the second gripper are separated from each other by a gap larger than a diameter of a suture used to form a suture loop; and (ii) a gripping position in which the first gripping surface and the second gripping surface of the first gripper and the second gripper are separated from each other by a distance smaller than a diameter of a suture used to form a suture loop;

[0081] An electrode assembly comprising an electrode for selectively applying an electrical potential to a suture clamped between first and second gripping surfaces of a first and second gripping holder, wherein the electrode is movably mounted to a shaft so as to be movable between: (i) a non-welding position in which the electrode is spaced from the suture clamped between the first and second gripping surfaces of the first and second gripping holders; and (ii) a welding position in which the electrode engages the suture clamped between the first and second gripping surfaces of the first and second gripping holders; and

[0082] An operating mechanism for selectively operating the grip assembly and the electrode assembly in response to at least one of the first jaw member and the second jaw member of the jaw assembly, wherein when the electrode assembly is in its non-welding position and the grip assembly is in its released position and the jaw assembly is in its closed position and when the suture is positioned between the first gripping surface and the second gripping surface of the grip assembly, progressive movement of the at least one of the first jaw member and the second jaw member of the jaw assembly toward at least one open position thereof sequentially causes:

[0083] (a) at least one of the first gripper and the second gripper moves from its release position to its gripping position;

[0084] (b) the electrode is moved from its non-welding position to its welding position; and

[0085] (c) at least one of the first gripper and the second gripper moves from its gripping position to its release position; adjacent the tissue positioning device while (i) the jaw assembly is in its at least one open position, (ii) the gripping assembly is in its release position and (iii) the electrode assembly is in its non-welding position;

[0086] moving at least one of the first jaw member and the second jaw member such that the jaw assembly is in its closed position;

[0087] advancing the suture through the continuous path such that the suture forms a suture loop; and

[0088] causing the at least one of the first jaw member and the second jaw member of the jaw assembly to gradually move toward at least one open position thereof to sequentially:

[0089] (a) at least one of the first gripper and the second gripper moves from its release position to its gripping position;

[0090] (b) the electrode is moved from its non-welding position to its welding position; and

[0091] (c) At least one of the first gripper and the second gripper moves from its gripping position to its releasing position.

[0092] In one form of the present invention, there is provided a suture advancing / retracting mechanism for advancing / retracting a suture, the suture advancing / retracting mechanism comprising:

[0093] a first tubular member including a sidewall having a distal end, a proximal end and a lumen extending therebetween, a shoulder formed on an exterior of the sidewall, and a flange extending radially outward from the sidewall, the flange being spaced from the shoulder, and a portion of the sidewall adjacent the shoulder being compressible;

[0094] a second tubular element including a sidewall having a distal end, a proximal end and a lumen extending therebetween, a shoulder formed on an interior of the sidewall, and a flange extending radially outward from the sidewall, the second tubular element being concentrically mounted on the first tubular element such that the shoulder formed on the interior of the sidewall of the second tubular element is engageable with the shoulder formed on the exterior of the sidewall of the first tubular element;

[0095] a spring concentrically mounted on the side wall of the first tubular element so as to engage the flange of the first tubular element and the flange of the second tubular element, thereby biasing the first tubular element proximally and the second tubular element distally, thereby biasing the shoulder of the first tubular element and the shoulder of the second tubular element into engagement with each other; and

[0096] a stop member engageable to the first tubular element to selectively stop proximal movement of the first tubular element such that:

[0097] (i) the suture may be advanced through the lumen of the first tubular element when the first tubular element engages the stopper and the flange of the second tubular element is pushed toward the flange of the first tubular element so as to compress the spring;

[0098] (ii) when the flange of the second tubular element is thereafter pushed away from the flange of the first tubular element, the shoulder of the second tubular element engages the shoulder of the first tubular element so as to compress the sidewall of the first tubular element and grasp the suture advanced through the lumen of the first tubular element, thereby driving the suture distally;

[0099] (iii) as the flange of the second tubular element subsequently moves toward the flange of the first tubular element, the shoulder of the second tubular element remains engaged with the shoulder of the first tubular element so as to continue to compress the sidewall of the first tubular element and grasp the suture advanced through the lumen of the first tubular element, thereby driving the suture proximally; and

[0100] (iv) when the first tubular element is subsequently moved to engage the stop and the flange of the second tubular element moves toward the flange of the first tubular element, the shoulder of the second tubular element disengages from the shoulder of the first tubular element to stop compressing the side wall of the first tubular element and release the suture extending through the inner cavity of the first tubular element.

[0101] In one form of the invention, there is provided a medical device for advancing and retracting a suture, the medical device comprising:

[0102] a first tubular element, a second tubular element, a spring, and a stop;

[0103] The first tubular element includes a first sidewall, a first shoulder formed on an exterior of the first sidewall, and a first flange spaced from the first shoulder and extending radially outward from the first sidewall,

[0104] a first sidewall including a distal end, a proximal end, a lumen extending between the proximal and distal ends of the first sidewall, and a compressible portion adjacent the first shoulder;

[0105] The second tubular element includes a second sidewall, a second shoulder formed on an interior of the second sidewall, and a second flange extending radially outward from the second sidewall.

[0106] The second tubular element is concentrically mounted on the first tubular element such that the second shoulder of the second tubular element is engageable with the first shoulder of the first tubular element, and

[0107] The second side wall comprises a distal end, a proximal end, and a lumen extending between the proximal end and the distal end of the second side wall;

[0108] The spring is concentrically mounted on the side wall of the first tubular element so as to engage the flange of the first tubular element and the flange of the second tubular element,

[0109] The spring is positioned to bias the first tubular element proximally and the second tubular element distally, and

[0110] The spring is positioned to bias the first shoulder and the second shoulder into engagement with each other; and

[0111] The stop member is selectively engageable to the first tubular element to stop proximal movement of the first tubular element such that:

[0112] (i) with the first tubular element engaging the stopper and the second flange being urged toward the flange, the suture is advanced unrestricted through the lumen of the first tubular element; and thereafter

[0113] (ii) in order to drive the suture distally with the second flange of the second tubular element pushed away from the first flange, the second shoulder engages the first shoulder and compresses the compressible portion of the first sidewall to grip the suture advanced through the lumen of the first tubular element; and thereafter,

[0114] (iii) in order to drive the suture proximally with the second flange moving toward the first flange, the second shoulder remains engaged with the first shoulder so as to continue to compress the compressible portion of the first sidewall to hold the suture advanced through the lumen of the first tubular element; and thereafter,

[0115] (iv) to release a suture extending through the lumen of the first tubular element when the first tubular element moves to engage the stopper and the second flange moves toward the first flange, the second shoulder disengages from the first shoulder to cease compressing the compressible portion of the first sidewall.

[0116] In one form of the invention, there is provided a method for advancing / retracting a suture, the method comprising: providing a suture advancing / retracting mechanism for advancing / retracting a suture, the suture advancing / retracting mechanism comprising:

[0117] a first tubular member including a sidewall having a distal end, a proximal end and a lumen extending therebetween, a shoulder formed on an exterior of the sidewall, and a flange extending radially outward from the sidewall, the flange being spaced from the shoulder, and a portion of the sidewall adjacent the shoulder being compressible;

[0118] a second tubular element including a sidewall having a distal end, a proximal end and a lumen extending therebetween, a shoulder formed on an interior of the sidewall, and a flange extending radially outward from the sidewall, the second tubular element being concentrically mounted on the first tubular element such that the shoulder formed on the interior of the sidewall of the second tubular element is engageable with the shoulder formed on the exterior of the sidewall of the first tubular element;

[0119] a spring mounted concentrically on the side wall of the first tubular element so as to engage the flange of the first tubular element and the flange of the second tubular element, thereby biasing the first tubular element proximally and the second tubular element distally, thereby biasing the shoulder of the first tubular element and the shoulder of the second tubular element into engagement with each other; and

[0120] a stop member engageable to the first tubular element to selectively stop proximal movement of the first tubular element such that:

[0121] (i) the suture may be advanced through the lumen of the first tubular element when the first tubular element engages the stopper and the flange of the second tubular element is pushed toward the flange of the first tubular element so as to compress the spring;

[0122] (ii) when the flange of the second tubular element is thereafter pushed away from the flange of the first tubular element, the shoulder of the second tubular element engages the shoulder of the first tubular element so as to compress the sidewall of the first tubular element and grasp the suture advanced through the lumen of the first tubular element, thereby driving the suture distally;

[0123] (iii) as the flange of the second tubular element thereafter moves toward the flange of the first tubular element, the shoulder of the second tubular element remains engaged with the shoulder of the first tubular element so as to continue to compress the sidewall of the first tubular element and grip the suture advanced through the lumen of the first tubular element, thereby driving the suture proximally; and

[0124] (iv) when the first tubular element is subsequently moved to engage the stop and the flange of the second tubular element moves toward the flange of the first tubular element, the shoulder of the second tubular element disengages from the shoulder of the first tubular element so as to cease compressing the sidewall of the first tubular element and release the suture extending through the lumen of the first tubular element;

[0125] moving the first tubular element into engagement with the stop and pushing the second flange toward the flange to compress the spring;

[0126] advancing a suture through the lumen of the first tubular member;

[0127] pushing the flange of the second tubular element away from the flange of the first tubular element so as to cause the shoulder of the second tubular element to engage the shoulder of the first tubular element so as to compress the sidewall of the first tubular element and grasp the suture advanced through the lumen of the first tubular element, thereby driving the suture distally:

[0128] moving the flange of the second tubular element toward the flange of the first tubular element while the shoulder of the second tubular element remains engaged with the shoulder of the first tubular element so as to continue to compress the sidewall of the first tubular element and hold the suture advanced through the lumen of the first tubular element, thereby driving the suture proximally; and

[0129] The first tubular element is moved into engagement with the stop and the flange of the second tubular element is moved toward the flange of the first tubular element so that the shoulder of the second tubular element disengages from the shoulder of the first tubular element to stop compressing the sidewall of the first tubular element and release the suture extending through the lumen of the first tubular element.

[0130] In one form of the invention, there is provided an apparatus for applying a suture to tissue, wherein the suture comprises a biocompatible electrically conductive thermoplastic material and has a diameter, the apparatus comprising:

[0131] a shaft having a distal end and a proximal end;

[0132] A jaw assembly comprising a first jaw member and a second jaw member, the first jaw member comprising a first tip, a first channel and a first slot for slidably receiving a suture, the second jaw member comprising a second tip, a second channel and a second slot for slidably receiving a suture, wherein at least one of the first jaw member and the second jaw member is pivotally mounted to an axis so as to be movable between: (i) at least one open position in which the first and second tips of the first jaw member and the second jaw member are separated from each other by a gap; and (ii) a closed position in which the first and second tips of the first jaw member and the second jaw member are engaged with each other so that the first channel and the second channel form a continuous path;

[0133] A gripping assembly comprising a first gripper including a first gripping surface, a second gripper including a second gripping surface, and a gripper clamp for engaging the first gripper and the second gripper so as to move at least one of the first gripper and the second gripper between: (i) a release position in which the first gripping surfaces and the second gripping surfaces of the first gripper and the second gripper are separated from each other by a gap larger than the diameter of a suture used to form a suture loop; and (ii) a gripping position in which the first gripping surfaces and the second gripping surfaces of the first gripper and the second gripper are separated from each other by a gap larger than the diameter of a suture used to form a suture loop. Sutures used to form a suture loop are spaced apart from each other at a smaller distance than their diameters; an electrode assembly comprising an electrode for selectively applying an electrical potential to a suture clamped between a first gripping surface and a second gripping surface of a first gripper and a second gripper, wherein the electrode is movable between: (i) a non-welding position in which the electrode is spaced apart from the suture clamped between the first gripping surface and the second gripping surface of the first gripper and the second gripper; and (ii) a welding position in which the electrode engages the suture clamped between the first gripping surface and the second gripping surface of the first gripper and the second gripper;

[0134] An actuator rod assembly for selectively operating a jaw assembly, a gripper assembly, and an electrode assembly in response to movement of the actuator rod assembly in a distal direction, the actuator rod assembly comprising an actuator rod movably mounted to a shaft, a drive pin mounted to the actuator rod and extending through a first slot in a first jaw member and a second slot in a second jaw member, a gripper clip of the gripper assembly mounted to the actuator rod, and an electrode of the electrode assembly being spring biased away from the actuator rod and engaging the first and second grippers of the gripper assembly when the gripper assembly is in its gripping position, wherein progressive movement of the actuator rod in a distal direction, when the electrode assembly is in its non-welding position, the gripper assembly is in its released position, and the jaw assembly is in its open position with a suture positioned between the first and second grippers of the gripper assembly, sequentially causes:

[0135] (a) at least one of the first jaw and the second jaw of the jaw assembly moves from its open position to its closed position;

[0136] (b) at least one of the first holder and the second holder moves from its release position to its holding position; and

[0137] (c) the electrode is moved from its non-welding position to its welding position;

[0138] And the subsequent stepwise movement of the actuator rod in the proximal direction sequentially results in:

[0139] (d) the electrode is moved from its welding position to its non-welding position;

[0140] (e) at least one of the first holder and the second holder moves from its holding position to its releasing position; and

[0141] (f) At least one of the first jaw and the second jaw of the jaw assembly moves from its closed position to its open position.

[0142] In one form of the invention, there is provided a medical device comprising:

[0143] a jaw assembly, a grip assembly, an electrode assembly, and an actuator rod assembly operably coupled to the jaw assembly, the grip assembly, and the electrode assembly;

[0144] The jaw assembly includes a first jaw member and a second jaw member,

[0145] The first jaw member includes a first tip, a first slot, and a first channel for receiving a suture,

[0146] The second jaw member includes a second tip, a second slot, and a second channel for receiving a suture,

[0147] At least one of the first jaw member and the second jaw member is movable between an open position and a closed position,

[0148] The open position is a position where the first and second tips of the first and second jaw members are separated from each other by a gap, and

[0149] The closed position is where the first channel and the second channel form a continuous channel for the suture;

[0150] The actuator rod assembly includes a movable actuator rod and a drive pin mounted to the actuator rod,

[0151] A drive pin extends through a first slot in the first jaw member and a second slot in the second jaw member;

[0152] The holding assembly comprises a first holding device, a second holding device and a holding device clip.

[0153] The first holder comprises a first holding surface,

[0154] The second holder includes a second holding surface,

[0155] a gripper clip mounted to the actuator rod and engaging the first gripper and the second gripper to move at least one of the first gripper and the second gripper between a release position and a gripping position,

[0156] The release position is a position where the first gripping surface of the first gripper and the second gripping surface of the second gripper are separated from each other by a gap larger than the diameter of the suture, and

[0157] The gripping position is a position where the first gripping surface and the second gripping surface of the first gripper and the second gripper are separated from each other by a distance smaller than a diameter of the suture; and

[0158] The electrode assembly includes an electrode configured to apply an electrical potential to a suture between a first gripping surface of a first gripper and a second gripping surface of a second gripper,

[0159] The electrode can be moved between the non-welding position and the welding position.

[0160] The non-welding position is a position where the electrode is spaced from the suture line between the first holding surface and the second holding surface of the first holder and the second holder, and

[0161] The welding location is the location where the electrode engages the suture between the first gripping surface and the second gripping surface of the first gripper and the second gripper;

[0162] wherein with the holder assembly in the holding position, the electrode of the electrode assembly is spring biased away from the actuator rod and engages the first holder and the second holder of the holder assembly; and

[0163] wherein with the electrode assembly in the non-welding position, the gripping assembly in the released position, the jaw assembly in the open position, and the suture positioned between the first gripper and the second gripper of the gripping assembly, a first stepwise movement of the actuator rod in the distal direction sequentially results in:

[0164] (a) at least one of the first jaw and the second jaw of the jaw assembly moves from an open position to a closed position;

[0165] (b) at least one of the first holder and the second holder moves from a release position to a holding position; and

[0166] (c) The electrode moves from a non-welding position to a welding position;

[0167] And the subsequent second step-wise movement of the actuator rod in the proximal direction in turn results in:

[0168] (d) The electrode moves from a welding position to a non-welding position;

[0169] (e) at least one of the first holder and the second holder moves from a holding position to a releasing position; and

[0170] (f) At least one of the first jaw and the second jaw of the jaw assembly moves from a closed position to an open position.

[0171] In one form of the invention, there is provided a method for applying a suture to tissue, the method comprising: providing an apparatus for applying a suture to tissue, wherein the suture comprises a biocompatible conductive thermoplastic material and has a diameter, the apparatus comprising:

[0172] a shaft having a distal end and a proximal end;

[0173] A jaw assembly comprising a first jaw member and a second jaw member, the first jaw member comprising a first tip, a first channel and a first slot for slidably receiving a suture, the second jaw member comprising a second tip, a second channel and a second slot for slidably receiving a suture, wherein at least one of the first jaw member and the second jaw member is pivotally mounted to an axis so as to be movable between: (i) at least one open position in which the first and second tips of the first jaw member and the second jaw member are separated from each other by a gap; and (ii) a closed position in which the first and second tips of the first jaw member and the second jaw member are engaged with each other so that the first channel and the second channel form a continuous path;

[0174] A gripping assembly comprising a first gripper including a first gripping surface, a second gripper including a second gripping surface, and a gripper clamp for engaging the first gripper and the second gripper to move at least one of the first gripper and the second gripper between: (i) a release position in which the first gripping surface and the second gripping surface of the first gripper and the second gripper are separated from each other by a gap larger than a diameter of a suture used to form a suture loop; and (ii) a gripping position in which the first gripping surface and the second gripping surface of the first gripper and the second gripper are separated from each other by a distance smaller than a diameter of a suture used to form a suture loop;

[0175] An electrode assembly comprising an electrode for selectively applying an electrical potential to a suture clamped between a first gripping surface and a second gripping surface of a first gripper and a second gripper, wherein the electrode is movable between: (i) a non-welding position in which the electrode is spaced from the suture clamped between the first gripping surface and the second gripping surface of the first gripper and the second gripper; and (ii) a welding position in which the electrode engages the suture clamped between the first gripping surface and the second gripping surface of the first gripper and the second gripper;

[0176] An actuator rod assembly for selectively operating a jaw assembly, a gripper assembly, and an electrode assembly in response to movement of the actuator rod assembly in a distal direction, the actuator rod assembly comprising an actuator rod movably mounted to a shaft, a drive pin mounted to the actuator rod and extending through a first slot in a first jaw member and a second slot in a second jaw member, a gripper clip of the gripper assembly mounted to the actuator rod, and an electrode of the electrode assembly being spring biased away from the actuator rod and engaging the first and second grippers of the gripper assembly when the gripper assembly is in its gripping position, wherein progressive movement of the actuator rod in a distal direction, when the electrode assembly is in its non-welding position, the gripper assembly is in its released position, and the jaw assembly is in its open position with a suture positioned between the first and second grippers of the gripper assembly, sequentially causes:

[0177] (a) at least one of the first jaw and the second jaw of the jaw assembly moves from its open position to its closed position;

[0178] (b) at least one of the first holder and the second holder moves from its release position to its holding position; and

[0179] (c) the electrode is moved from its non-welding position to its welding position;

[0180] And the subsequent stepwise movement of the actuator rod in the proximal direction sequentially results in:

[0181] (d) the electrode is moved from its welding position to its non-welding position;

[0182] (e) at least one of the first holder and the second holder moves from its holding position to its releasing position; and

[0183] (f) at least one of the first jaw and the second jaw of the jaw assembly moves from its closed position to its open position;

[0184] adjacent the tissue positioning device while the jaw assembly is in at least one of its open positions, the grip assembly is in its released position, and the electrode assembly is in its non-welding position;

[0185] The actuator rod is moved stepwise in the distal direction to sequentially cause:

[0186] (a) at least one of the first jaw and the second jaw of the jaw assembly moves from its open position to its closed position;

[0187] (b) at least one of the first holder and the second holder moves from its release position to its holding position; and

[0188] (c) moving the electrode from its non-welding position to its welding position; and

[0189] The actuator rod is then moved stepwise in the proximal direction to sequentially cause:

[0190] (d) the electrode is moved from its welding position to its non-welding position;

[0191] (e) at least one of the first holder and the second holder moves from its holding position to its releasing position; and

[0192] (f) At least one of the first jaw and the second jaw of the jaw assembly moves from its closed position to its open position. BRIEF DESCRIPTION OF THE DRAWINGS

[0193] These and other objects and features of the present invention will be more fully disclosed or become apparent from the following detailed description of preferred embodiments of the present invention, which should be considered in conjunction with the accompanying drawings, in which like reference numerals refer to like parts, and further in which:

[0194] Figure 1 is a schematic diagram showing a short length of filamentary material formed in accordance with the present invention (the filamentary material is sometimes referred to herein as "conductive thermoplastic suture");

[0195] Figure 2A is a schematic diagram showing a novel apparatus for welding conductive thermoplastic sutures;

[0196] Figure 2B It shows the use of Figure 2A A schematic diagram of a novel device for forming a weld in a conductive thermoplastic suture;

[0197] Figure 3 is a schematic diagram showing a tissue fastening device or construct formed in accordance with the present invention;

[0198] Figure 4A and Figure 4B is a schematic diagram showing a novel device made of molded conductive thermoplastic material that is intended to be electrically welded in situ;

[0199] Figure 5A and Figure 5B is a schematic diagram showing another novel device made of molded conductive thermoplastic material that is attempted to be electrically welded in situ;

[0200] Figure 6 is a schematic diagram showing a novel suturing instrument used in a surgical operation;

[0201] Fig. 7A It shows Figure 6 A schematic diagram of a distal end effector portion of a novel suturing device;

[0202] Figure 7B It shows Fig. 7A Schematic diagram of actuation of the grasper portion of the distal end effector shown in;

[0203] Figure 7C is a schematic diagram showing a needle (having grooves) being advanced through tissue (not shown) clamped between gripping surfaces of a distal end effector;

[0204] Fig.7D It shows Figure 7C Schematic diagram of a distal end effector of , wherein the suture is advanced by pushing the suture into the groove of the needle and the groove of the grasper;

[0205] Fig. 7E It shows Fig.7D Schematic diagram of actuation of an articulated gripping mechanism of a distal end effector;

[0206] Figure 7F It shows Fig. 7E Schematic diagram of a distal end effector with the needle retracted and the suture advancement mechanism reversed;

[0207] Figure 7G It shows Figure 7F A schematic diagram of a distal end effector of wherein an electrode is advanced to contact a portion of a suture;

[0208] Figure 7H It shows Figure 7G Schematic diagram of a distal end effector of , wherein a blade is advanced to cut a suture;

[0209] Fig.7I It shows Figure 7H Schematic diagram of a distal end effector of , wherein the grasper is in a reopened position;

[0210] Fig. 8A and Figure 8B is a schematic diagram showing a novel end effector for use in robotic surgery;

[0211] Figures 8C-8F It shows Fig. 8A and Figure 8B A schematic diagram of further details of the novel end effector shown in;

[0212] Figure 8G-8M is a schematic partial cross-sectional view showing another form of the present invention;

[0213] Figures 9A-9E It shows the use of Fig. 8A and Figure 8B Schematic diagram of anatomical closure achieved by the novel end effector shown in;

[0214] Fig. 10A is a schematic diagram showing another novel end effector for use in robotic surgery;

[0215] Figures 10B-10E It shows the use of Fig. 10A Schematic diagram of anatomical closure achieved by the novel end effector shown in;

[0216] Fig.11 is an isometric schematic diagram of an embodiment of a suture feeding and tensioning device for an automated suturing and / or ligating apparatus;

[0217] Fig.12 and Fig.13 yes Fig.11 Detailed isometric schematic diagrams of subcomponents of the device shown;

[0218] Figures 14a-14d yes Fig.11 An isometric schematic diagram of the operating steps of the device shown;

[0219] Fig.14e The suture tube and Fig.11 A schematic diagram of a combination of the devices shown in ;

[0220] Fig.15a and Fig.15bis an isometrically oriented illustration of a novel robotic instrument end effector specifically for vascular ligation;

[0221] Figure 16a-16c It shows Fig.15a and Fig.15b A detailed front view of the relationship between the actuator position and the jaw movement of the end effector is shown;

[0222] Fig.17a Is used for transfer Fig.15a An isometric schematic diagram of a novel internal mechanism of a suture thread of a portion of an end effector;

[0223] Fig.17b Is used for transfer Fig.15a An exploded schematic diagram of a novel internal mechanism of a suture thread of a portion of an end effector;

[0224] Figures 18a-18f It shows Fig.17a and Fig.17b A series of schematic side cross-sectional views illustrating the sequence of operation of the suture delivery mechanism; and

[0225] Figures 19a-19f It shows the view from the user's perspective. Fig.15a and Fig.15b Isometric illustration of the operating steps of the ligation instrument. DETAILED DESCRIPTION

[0226] The present invention includes providing and using new and improved methods and apparatus for producing suture welds of sufficient strength and reliability to replace or enhance the strength of suture knots or other loop closure devices.

[0227] This disclosure describes the inventive concept with reference to specific examples. However, it is intended to cover all improvements, equivalents and alternatives according to the inventive concept consistent with the present disclosure.

[0228] For purposes of this patent application, the term "suture" means a filament used in surgery to join tissues and / or objects (eg, using suture stitches) or to ligate vessels, tissues, or objects (eg, using ligature stitches).

[0229] For the purposes of this patent application, the term "stitch" means a length of suture, portions of which are joined together to form a continuous loop that passes through or around tissue and / or an object to provide a surgical purpose, such as closing a wound (e.g., using a suturing stitch), occluding a blood vessel (e.g., using a ligation stitch), etc.

[0230] For the purposes of this patent application, the term "suture loop" means a length of suture that forms a continuous structure with overlapping portions before and / or after joining those overlapping portions, such as by welding.

[0231] Summary of the Invention

[0232] Forming surgical stitches in anatomical areas with difficult surgical access is a challenge in minimally invasive surgery. The present disclosure describes an invention for joining sutures by welding (e.g., instead of tying or knotting). This saves time and can be done in extremely limited spaces. Unlike existing suture welding systems, the present invention can use low-cost welding equipment to deliver suture welds through a tortuous path, such as through a curved catheter. Aspects of the disclosed invention can be particularly beneficial to manufacturers of robotic surgical systems. For example, a fully automatic suturing device attachment can be utilized in a surgical robotic system.

[0233] Conventional "needle and thread" suturing requires manual or instrument access and is time consuming, requires space to maneuver, and leaves a large knot at the surgical site. Crimping-type joint devices leave foreign matter (e.g., metal crimps) at the joint site, and the large crimping forces required to actuate the crimping require a relatively large shaft diameter and limited shaft length. Existing suture welding devices that utilize direct application of heat have the risk of undesirable heating of surrounding tissue and / or weakening of the suture. Existing ultrasonic suture welding devices are bulky and expensive and require a straight line access to the surgical site. Existing surgical robotic manipulators are time consuming, require space to maneuver, and have a steep learning curve.

[0234] Traditionally, the shaped sutures are passed through tissues using needles and tied into loops using knots to close wounds and allow healing of tissues. Minimally invasive surgery (MIS) and robotic surgery require the skills of surgeons because suture knots need to be tied in areas of the body that the surgeon's hands cannot reach. Many surgical instruments have been developed to assist surgeons in knot tying or to provide knot substitutes. The inventor and other inventors have invented such instruments. A known instrument includes a tool for forming a welding loop of sutures, and another considers the welding loop of sutures itself as a surgical fastener. Although the method of combining sutures into stitches helps to suture in hard-to-reach areas of the body, in practice it requires an ultrasonic generator, a transducer, and a waveguide to complete welding in a monofilament suture. This device is bulky and expensive, and requires a straight path from the incision point to the surgical site.

[0235] The present invention seeks to improve upon these earlier inventions by utilizing novel suture materials and novel welding apparatus that do not require bulky, expensive ultrasonic instrumentation and that can be delivered through elongated and / or curved shafts.

[0236] Among other things, novel aspects of the disclosed invention include:

[0237] 1. A suture material that can be directly welded using a small amount of simple low-voltage electrical energy;

[0238] 2. A tissue fastening device or construct comprising a continuous welded loop of a filamentary material composed of an electrically weldable polymer;

[0239] 3. An apparatus for welding electrically weldable sutures that provides precise control of welding parameters to ensure consistent, high-strength welds;

[0240] 4. An apparatus for welding electrically weldable sutures that can be safely manipulated within the body without damaging adjacent tissue; and 5. An apparatus for welding electrically weldable sutures that can be delivered through a tortuous path to a remote region of the body.

[0241] These and other advantages are achieved by the novel materials, devices, methods and apparatus of the present invention.

[0242] The suture material aspect of the present invention is made of filaments of a biocompatible material having a diameter, strength, and flexibility consistent with surgical sutures and having electrical conductivity with predictable resistance values.

[0243] Apparatus aspects of the present invention include a mechanism for maintaining overlapping portions of a suture loop; a mechanism for applying contact pressure through the overlapping region; and a mechanism for applying and controlling an electric current through the overlapping region to locally heat the overlapping region by the electric current flowing through the overlapping region and thereby cause local melting of the overlapping region, which then solidifies again to form a weld.

[0244] Some forms of the device also include: a mechanism for clamping the suture to maintain suture tension during the welding process; a mechanism for trimming the suture tail that extends beyond the suture loop; a handle with controls to allow a user (e.g., a surgeon) to manipulate the device and initiate the welding process; and an elongated straight, curved, articulated, flexible and / or steerable shaft that connects the distal welding device to the proximal handle, thereby allowing the user to manipulate the welding device into difficult-to-reach areas of the body (such as during an MIS procedure).

[0245] Other forms of the apparatus include instruments for controllably or automatically penetrating tissue, delivering sutures, tensioning sutures, trimming suture tails, and releasing formed tissue-fastened suture loops. Examples of these instruments are disclosed in the inventor's prior U.S. Pat. No. 5,417,700 (which is hereby incorporated by reference herein) and may be used alone or in combination with this new welding apparatus.

[0246] The welding process aspects of the present invention share many of the same features as resistance welding or spot welding of metals, but have several important novel differences, including but not limited to: the low voltages and exceptional electrical isolation necessary for medical devices; the ability to work with non-metallic conductive materials; and means for controlling the localization and depth of material melting in order to maintain the high strength of the highly linear molecular chains of the conductive polymer or composite being welded.

[0247] Suture loops formed by the materials, apparatus and processes disclosed herein are tissue-fastening devices or constructs formed in situ in the form of a continuous loop. The loops include filaments of the biocompatible conductive material disclosed herein that approximate arcs in a circular configuration, with overlapping areas joined by welds.

[0248] Other structures are also disclosed herein that are made from the disclosed materials and are welded in situ but are not necessarily in the form of a ring or include filamentary material having a uniform cross-section.

[0249] In one form of the invention, welded suture loops are used to secure two or more portions of tissue together.

[0250] In another form of the invention, welded suture loops are used to ligate tissue.

[0251] Materials used to form weldable seams and / or weldable structures

[0252] Figure 1 A short length of filamentary biocompatible material 5 is shown. In one form of the invention, material 5 has the following characteristics: being substantially circular in cross-section and falling within the ranges specified by the United States Pharmacopeia for suture diameter (USP29-861) and tensile strength (USP29-881) and equivalent international standards. Material 5 further has the following characteristics: having electrical conductivity with a known resistance, and being meltable at a melting temperature above 37°C (so that material 5 is in a solid form in the human body). Thus, material 5 comprises an electrically conductive thermoplastic material.

[0253] In a preferred form of the invention, material 5 is a monofilament of a thermoplastic polymer compounded with a conductive additive. In some forms, a dispersant is used to ensure uniform mixing of the conductive additive within the polymer matrix. In some forms, the base thermoplastic polymer and the conductive additive (and dispersant, if necessary) are melt compounded (mixed), extruded and drawn to produce a monofilament having a substantially straight molecular chain to obtain excellent strength and flexibility. In other forms, the melt compounded (mixed) material is injection molded into a single or multi-component device for medical applications. In some forms, the thermoplastic polymer is a bioabsorbable material currently approved for use as a suture or implant material (e.g., polylactic acid (PLA), polyglycolide (PGA), polydioxanone (PDS), thermoplastic linear polyester, such as those sold under the trade name TephaFLEX TM In some forms, the conductive additive is an inert and / or non-toxic material, such as carbon black, carbon fiber, iron oxide (Fe2O3, etc.) or metal powder, nanoparticles (such as carbon nanotubes or fullerenes, also known as "Buckyball") or metal-coated glass microspheres. In other forms, the conductive additive is any intrinsic conductive polymer (ICP), which includes but is not limited to polyacetylene, polyaniline, polythiophene and polyphenylene vinylene. In some forms, these non-thermoplastic polymers are compounded with thermoplastic base polymers. In other forms, non-thermoplastic polymers are applied to base polymer filaments or parts as a thin film coating. In some forms, the conductive coating is a continuous or patterned coating of conductive ink. In some forms, the conductive polymer or composite can be coextruded on the outside of another polymer that is not necessarily conductive at its core. In one form, the core material has a higher melting temperature than the coextruded outer layer. In other forms, the filaments may be a multi-strand structure, such as a braided suture made of microfilament bundles of conductive thermoplastic polymers, or a composite of different filaments braided together. In one form, conductive and non-conductive filaments are combined into a single braided suture. In another embodiment, microfilaments with varying melting temperatures and conductivity are braided together so that local welding melting does not melt the filaments with higher melting temperatures, thereby maintaining their highly linear molecular orientation and high strength characteristics and producing a strong weld area.

[0254] In one form, high strength, high melting temperature polymer filaments are provided in a low melting temperature metal matrix so that when an electric current is applied through adjacent portions of the polymer filament / metal matrix, the metal fuses but leaves the high strength filaments undamaged. In yet another form, metal sutures or wires are used, although pure metals are generally less ideal than conductive thermoplastics because the high melting temperatures of metals and the high thermal conductivity in metals present a risk of damaging surrounding tissues, and melt diffusion in metals is more difficult to control than melt diffusion in polymers. In one form of the material, the material filaments have lateral (side-to-side) conductivity but not axial (end-to-end) conductivity, which has the advantage of protecting the body from stray currents in the event of suture breakage before or during welding. The lateral rather than axial conductivity feature can be caused by drawing or stretching a composite material with a low conductive additive filling ratio, because the chains of the additives can be broken axially during stretching, but are compacted laterally due to the reduction in diameter.

[0255] In one form of the invention, material 5 is a conductive thermoplastic polymer.

[0256] Equipment for welding conductive thermoplastic sutures

[0257] Figure 2A An apparatus 10 for welding a length of conductive thermoplastic suture 15 is shown. The length of conductive thermoplastic suture 15 includes a first end 20 and a second end 25. The first end 20 and the second end 25 overlap at a contact point 30 to form a loop of the suture 15. The loop of the suture 15 is maintained in its loop configuration by a clamping mechanism 35 applied at the contact point 30. The clamping mechanism 35 includes a first electrode 40 that conforms to the surface of the first end 20 of the suture 15 and a second electrode 45 that conforms to the surface of the second end 25 of the suture 15. A spring 50 applies a predetermined force between the electrodes 40, 45 to maintain pressure on the contact point 30. In one form, the first electrode 40 and the second electrode 45 are arranged to be substantially parallel to each other, thereby resulting in a line contact between the first suture end 20 and the second suture end 25 (not shown). In another form (i.e., Figure 2A In the form shown in FIG. 5 , there is a relative bend between the first electrode 40 and the second electrode 45, resulting in a point contact between the first suture end 20 and the second suture end 25. The structural frame 55 holds the parts of the clamping mechanism (i.e., the first electrode 40, the second electrode 45 and the spring 50) in place. Importantly, the structural frame 55 does not conduct electricity between the first electrode 40 and the second electrode 45. A circuit 60 including at least a power source 65 and a switch 70 is connected to the first electrode 40 and the second electrode 45, as shown in FIG. Figure 2A, such that closing switch 70 applies a voltage across first electrode 40 and second electrode 45 and allows current to flow through first suture end 20 and second suture end 25 at contact point 30. Preferably, power source 60 comprises a DC battery, although in other forms, power source 60 may comprise an external AC power source having an isolation transformer and rectifier or a low or high frequency AC power source.

[0258] In other forms of the invention, additional features may be added to the device 10 to facilitate its use as a surgical instrument, such as a tissue penetration and suture delivery device; a tensioning device; a clamping device for securing the suture ends 20, 25 to facilitate welding with the suture under tension; a suture tail trimming device; a weld zone drying gas introduction device; an elongated and / or serpentine delivery shaft; and / or a handle for a manual user interface or an electromechanical interface for connection to a surgical robot. These additional devices and features are well known in the art and are described in detail in prior patents of the present inventor and others (e.g., U.S. Pat. No. 5,417,700).

[0259] Figure 2B An illustrative method and process for forming a weld in a conductive thermoplastic suture 15 is shown in FIG. Closing a switch 70 causes current to flow from the first electrode 40 through the first suture end 20, across the contact point 30, through the second suture end 25 and then to the second electrode 45. The maximum resistance in the circuit is at the contact point 30, causing heat to accumulate in this area and spread into the first suture end 20 and the second suture end 25. The heat accumulation causes a localized melt region 75 that spreads into the first suture end 20 and the second suture end 25 as the heat increases. In one form, the switch 70 is opened and the current is stopped before the melt spreads across the entire cross-section of the suture material. This is different from conventional resistance welding of metals, in which the entire metal thickness is expected to be contained in the weld, and is due to the non-isotropic nature of drawn, extruded monofilament sutures.

[0260] In order to repeatedly and reliably achieve the optimal depth of melt penetration into the suture ends 20, 25, a variety of process control methods may be used. Among the many of these process control methods, we will mention Figure 2A and Figure 2BCircuits and components not shown in the simplified schematic diagram shown in , such as a microprocessor and various sensors, can however be considered to be deployed in a conventional manner familiar to those skilled in the art. In one such form, a simple timer is used to control the amount of time that the welding circuit is turned on. In another form, the first and second electrodes 40, 45 are configured so that as the melt spreads, the electrodes 40, 45 move toward each other as the molten material is displaced, and the electrodes 40, 45 contact each other when an optimum amount of material has been melted. The contacting electrodes are shorted together, thereby shunting the current around the suture and stopping heating. A current sensor can then be used to signal the microprocessor to interrupt the welding circuit. In another form, a displacement sensor can replace the self-contacting electrode to signal the microprocessor to shut down the circuit when the desired welding displacement has occurred. Other forms use a temperature sensor to control the welding circuit via a microprocessor, thereby shutting down the welding circuit when a preset peak temperature or heat distribution has been sensed. In yet other forms, a combination of time, displacement, and temperature sensors are used and the optimum welding parameters are determined by a microprocessor-based algorithm. Note that Figure 2A and Figure 2B The devices and methods shown in are suitable for both tissue suturing procedures and tissue ligation procedures.

[0261] Tissue fastening devices or constructs formed by welding sutures

[0262] Figure 3 Shown is a tissue fastening device or construction 100, which has a section of conductive thermoplastic material formed as a continuous ring in situ and combined by partial depth penetration welding. In the figure, we see the region of the original monofilament 105 around the welding area 110, which has a large tensile strength caused by the molecular chain of high linearity, which is theoretically represented by a line roughly parallel to the suture axis, and the welding area 110 has an amorphous molecular orientation, which is theoretically represented by a random disordered line. The tensile strength of the original monofilament is significantly greater than the tensile strength of the remelting area. When tension is applied on the ring, the top part and the bottom part of the overlapping ring end load the welding area in a shearing manner, and because the area of ​​the welding area is greater than the cross section of the suture, as long as there is original high-strength suture material on both sides of the welding area to distribute the load, the stress in this area will reduce.

[0263] Tissue fixation devices made of molded thermoplastic materials

[0264] Figure 4A and Figure 4B A clip 150 is shown made of a molded conductive thermoplastic material that can be electrically welded in situ, for example, to occlude blood vessels (such as veins and arteries) for surgical hemostasis, or to clamp tissue together, etc. Figure 4AThe clip 150 is shown prior to deployment. The clip 150 includes a first end 155 having a recess 160 and a second opposing end 165 having a protruding feature 170. The protruding feature 170 on the second end 165 cooperates with the recess 160 on the first end 155 to create a high resistance contact point to initiate welding melting. Figure 4B The clip 150 is shown welded in situ around a blood vessel 175. Electrodes (not shown) applied to the surface facing first end 155 and second end 165 of the clip 150 open the weld melt region 180 and couple the first end 155 and second end 165 to each other so that the clip 150 occludes the blood vessel 175.

[0265] Figure 5A and Figure 5B An illustrative device 200 is shown made of molded conductive thermoplastic material that is electrically welded in situ to block a section of a hollow organ 205 (such as a stomach) to allow the organ to be surgically divided. The device 200 includes: (i) a first strip 210 having an array of conductive thermoplastic needles 215 terminating in needle tips 220, and (ii) a second strip 225 having corresponding recesses (not shown) for receiving the needle tips 220. In this form of the invention, the apparatus (not shown) delivers the first strip 210 of conductive thermoplastic needles 215 through two layers of the organ (i.e., through both side walls of the hollow organ), and after the needle tips 220 have penetrated the organ and emerged therefrom, the second strip 225 is welded to the needle tips 220 of the first strip 210. By controlling the depth of melting of the needles 215, the distance between the top portion (i.e., the second strip 225) and the bottom portion (i.e., the first strip 210) of the device 200 can be controlled, thereby controlling the degree of "extrusion" applied to the organ and accommodating organs with variable thicknesses. In this way, the welded surgical fasteners are functionally similar to a row of stitches, or surgical staples can be delivered in a continuous linear process.

[0266] Suturing and ligation instruments

[0267] Figure 6 A suturing instrument 300 for surgical use is shown, which includes a distal end 305 and a proximal end 310 connected by a shaft 315. The distal end 305 is an end effector and includes mechanical and electrical tools for manipulating tissue and suture material to form a surgical stitch. The proximal end 310 includes an actuating tool for actuating the distal end 305 by a wire and linkage mechanism ( Figure 6The apparatus 300 is a device for driving and operating a stitch forming device at the distal end 305 (not shown in the figure). The shaft 315 has a sufficient length to reach the anatomical structure within the interior of the body, wherein the proximal end 310 of the instrument is maintained outside the body, the distal end 305 reaches the target tissue at the surgical site, and the shaft 315 passes through the intervening tissue and space, for example, by passing through a small incision in the body wall such as the abdominal wall. In one form (not shown), the proximal end 310 of the instrument 300 includes a handle suitable for being held by a human hand, and the actuating device on the proximal end 310 includes various buttons, triggers, rods, etc. for controlling the stitch forming device at the distal end 305 and a battery for supplying power to weld the suture. In another form (also not shown), the handle contains a motor, a linear actuator, a pneumatic or hydraulic cylinder or other actuating device for driving the stitch forming device, a microprocessor-controlled circuit for sequencing stitch formation and welding, a trigger or button to start the stitch forming process, and a power supply for powering the actuator and circuit. Still other forms have a handle and external power implements such as a power cord or pneumatic or hydraulic hoses. In another form (shown), the proximal end 310 includes an electrical and / or mechanical interface 320 for connection to a surgical robot.

[0268] Fig. 7A One form of a distal end effector 305 for a surgical stapling instrument 300 (or other surgical stapling instruments) is shown. The distal end effector 305 includes a slidable grasper 325 for grasping a piece of tissue and an instrument for passing and welding a suture loop around the grasped tissue, which will be discussed in further detail below.

[0269] The slidable grasper 325 includes a passage 330 for passing a length of conductive thermoplastic polymer monofilament suture 335 (having a distal end 337) therethrough, a hook feature 340 having a groove 345 opening on the inside of the hook feature 340, and a needle hole 350 aligned with the groove 345 of the hook feature 340. The slidable grasper 325 also includes a hole 352 for passing a needle 355 therethrough.

[0270] In use and now watching Figure 7B , the hook feature 340 of the slidable grasper 325 moves proximally (ie, in the direction of arrow 357 ) so as to clamp tissue to be sutured (not shown) between the first textured grasping surface 360 ​​and the second textured grasping surface 365 .

[0271] Watch Now Figure 7C, needle 355 includes groove 370, so that after needle 355 has been advanced through tissue (not shown) clamped between gripping surfaces 360, 365 and needle 355 is positioned in needle hole 350 of hook feature 340, groove 370 in needle 355 is aligned with groove 345 in hook feature 340, thereby forming a continuous circular path (i.e., with the aid of groove 345 of hook feature 340 and groove 370 in needle 355).

[0272] Next, observe Fig.7D , the suture 335 can be advanced through the continuous circular path formed by the groove 370 of the needle 355 and the groove 345 of the hook feature 340 until the distal end 337 of the suture 335 passes back over a portion of the suture 335 proximal to the distal end 337, thereby forming a suture loop through the tissue captured in the distal end effector 305, wherein the distal end 337 of the suture 335 contacts the proximal portion of the suture 335 at the overlap region 375. The suture 335 is advanced by motor-driven rollers in the shaft 315 and / or the proximal end 310 of the instrument 300, which engage and push the suture 335 through the circular path, or the suture 335 is advanced by other drive means (not shown) in the shaft 315 and / or the proximal end 310 of the instrument 300 known to those skilled in the art.

[0273] After the suture 335 has been advanced through the aforementioned circular path to form the suture loop, the articulated gripping mechanism 400 can be used to securely grasp the distal end 337 of the suture 335 adjacent the proximal portion of the suture 335 at the overlap region 375, leaving the proximal portion of the suture 335 free to slide axially for tensioning. To this end and now viewing Fig. 7E , the articulated gripping mechanism 400 includes a first rod 405 and a second rod 410, which pivot about pins 415 and 420, respectively. When the suture 335 is being advanced through the groove 370 of the needle 355 and the groove 345 of the hook feature 340, the rods 405, 410 are kept apart, thereby creating a gap in line with the groove 370 in the needle 355 and the circular groove 345 of the hook feature 340, thereby allowing the distal end 337 of the suture 335 to pass through the gap to form a suture loop. After the distal end 337 of the suture 335 is in place at the overlap region 375, the rods 405, 410 are closed on the distal end 337 of the suture 335, thereby grasping the distal end 337 and holding it firmly in place in the overlap region 375. The rods 405, 410 are made of a non-conductive material except for a first electrode 425 disposed where the rods 405, 410 hold the distal end 337 of the suture 335. The electrode 425 is in electrical contact only with the distal end 337 of the suture 335.

[0274] After the distal end 337 of the suture 335 is clamped in the overlap region 375 by the rods 405, 410, the needle 355 is retracted and the suture is advanced, meaning that the suture is advanced through the circular path is reversed so as to retract the loop of the suture 335 and tighten the loop of the suture 335 around the tissue grasped by the slidable grasper 325 ( Figure 7F ).

[0275] Once the suture loop has been tightened around tissue (not shown), the second electrode 430 is advanced to contact the portion of the suture that overlaps the distal end 337 of the suture 335 in the overlap region 375 (ie, Figure 7G A voltage potential is applied across the first electrode 425 and the second electrode 430 and a current flows through the overlapping suture region 375, thereby causing heating, melting and Figure 2A The weld is formed in the method described above.

[0276] After the distal end 337 of the suture 335 is welded to the proximal portion of the suture at the overlapping suture region 375, the blade 500 is advanced to cut the suture supply proximal to the weld so as to separate the welded loop from the instrument 300 ( Figure 7H ). The hook feature 340 of the slidable grasper 325 then moves distally to open the slidable grasper 325 again, thereby releasing the clamped tissue. The first rod 405 and the second rod 410 are also separated to release the welded ring stitch 445 around the tissue ( Fig.7I ). The actuator at the proximal end 310 of the instrument 300 then causes the distal end effector 305 to return to Fig. 7A position and the instrument 300 is ready to form another stitch.

[0277] It should be understood that a wide variety of additional devices and systems can utilize the disclosed materials, apparatuses, and methods and are within the scope of the present disclosure.

[0278] It will be appreciated that, if desired, the suturing instrument 300 can be used to ligate tissue as well as suture tissue. For example, but not limited to, in an exemplary ligation application, the suturing instrument 300 is in Figure 7B When in the position shown, the instrument is slid around the tissue to be ligated (e.g., a blood vessel). The needle 355 is then advanced distally ( Figure 7C ) so that the tissue to be ligated is grasped in the space between the slidable grasper 325, the shaft of the suturing instrument 300 and the needle 355. The suture is then advanced through the aforementioned circular path ( Fig.7D ) so that the looped suture surrounds the tissue to be ligated. Thereafter, the looped suture is held by rods 405, 410 ( Fig. 7E ), needle 355 is retracted, and the suture loop is tightened ( Figure 7F The suture loop is then welded ( Figure 7G ), and excess sutures are trimmed ( Figure 7H Finally, the suture loop (and the ligated blood vessel) is released from the suturing instrument 300 ( Fig.7I ). Note that for tissue ligation applications, needle 355 can have a blunt distal end as desired.

[0279] Suturing end effector used in robotic surgery

[0280] Fig. 8A A form of the invention is shown incorporated into a highly articulated end effector 801 for use in robotic surgery. This embodiment comprises a four degree of freedom (DoF) slave robotic end effector that is remotely controlled by a surgeon stationed at a master robotic console. The primary degrees of freedom include: roll of the instrument shaft 802 about axis R, pitch articulation of the mid-section "joint" 803 about axis P, and rotation of first (804) and second (805) independently rotating tool elements, disposed relative to each other, each about yaw axis Y. Other robotic end effectors use articulated sections or other means to achieve four or five DoF of motion, and the present invention is applicable to these devices as well. The end effectors thus far described in this paragraph are therefore well known in the art and commonly used in robotic surgery. We will now describe the unique novel aspects of the present invention.

[0281] Figure 8B An embodiment of the present invention is shown, which is 7A to 7I Suture stitches are formed in the same manner as the invention described in the foregoing, but differ in that a highly articulated end effector (e.g., Fig. 8A In one embodiment, the first articulated relative tool element 804 is a semicircular rigid body having an inwardly facing groove 810 terminating in a needle hole 811 at its distal end. The second tool element 805 is a semicircular needle having an inwardly facing suture groove 812 and a sharp tissue penetration point 813 at its distal end. The distal portion of the needle 805 (i.e., the second tool element 805) has a radius 814 to align with the needle receiving hole 811 in the tool element 804. When the first and second tool elements 804 and 805 are relatively closed (e.g., Fig. 8A ), the inwardly facing grooves 810 and 812 form a continuous groove through which the suture can be advanced.

[0282] Figure 8CA partial cross-sectional view of an embodiment of the present invention is shown schematically illustrating an apparatus for forming a suture stitch using an end effector. When the tool elements 804 and 805 are relatively closed, the flexible suture delivery tube 820 is aligned with the grooves 810 and 812 in the opposing tool elements 804 and 805. The distal end 821 of the suture delivery tube 820 is fixed relative to the first tool element 804 (in other embodiments the mechanism can be reversed and the delivery tube 820 can be fixed to the second tool element 805). The flexibility of the suture delivery tube 820 allows the suture delivery tube to maintain its alignment with the first tool element 804 throughout the entire range of motion of the articulated end effector. The flexible suture delivery tube 820 is used to Fig. 7A The suture passage 202 serves the same purpose as described in , except that it is flexible and allows articulation of the end effector.

[0283] Fig.8D , Fig. 8E and Figure 8F A detailed view of suture holders 825 and 826 is shown. Suture holders 825 and 826 provide multiple functions during the suture forming process. In one embodiment, they are arranged on a beveled guide surface (at Fig.8D , Fig. 8E and Figure 8F The grippers 825 and 826 are arranged in a manner that is not shown in the figure, but is of a type well known to those skilled in the art of gripping mechanisms, such that they separate as the grippers 825 and 826 move distally and come together as they move proximally. Their movement is controlled by a flexible gripper actuation linkage 827 that is flexible enough to actuate the grippers throughout the entire range of motion of the end effector. The grippers 825 and 826 move into three different positions: a feeding position ( Fig.8D ), where the gripper sections separate to allow suture to pass between them; the clamping / welding position ( Fig. 8E ), where steps 828 in the gripper surface come together to clamp and hold the distal ends of the suture strands (i.e., the overlapping portions of the suture strands) for loop tensioning and welding; and a release / cutting position ( Figure 8F ), where the holders open wide enough to release the welded suture loop, and the sharp cutter surface 829 slides distally to shear off the welded suture loop without it leaving the suture supply of the feed tube 820.

[0284] Figure 8CAlso shown is a welding electrode 830, which is actuated distally and proximally by a flexible electrode linkage 831 having sufficient flexibility to control the movement of the welding electrode throughout the entire range of motion of the end effector. In one embodiment, the suture holders 825 and 826 are electrically insulated except for the distal surface of the holder that contacts the distal side of the overlapping conductive suture segments held in the clamped position. The electrode 830 is electrically insulated except for a portion of the distal surface that can contact the proximal side of the overlapping conductive suture segments held in the clamped position. In one embodiment, either or both of the flexible actuation linkages 827 (of the holders 825 and 826) and 831 (of the electrode 830) are insulated and conductive and are arranged to deliver electrical energy to either the holder or the electrode or both. In other embodiments, separate flexible insulated wires deliver electrical energy to either or both of the holders 825 and 826 and / or the electrode 830. In embodiments where only one element (i.e., the holders 825 and 826, or the electrode 830) has an insulated conductor, the other element (i.e., the electrode 830, or the holders 825 and 826) can be connected to ground through the instrument shaft and the connected component. An electrical potential is applied between the holder surface and the non-insulated portion of the electrode, causing current to flow through the overlapping conductive suture segments, thereby causing localized melting at the interface between the suture segments, resulting in a welded connection between the suture segments. In the case where the overlapping conductive suture segments are either end of a continuous suture loop, a welded stitch is formed.

[0285] It should be noted that the end effector 801 can be used for tissue ligation as well as tissue suturing if desired. For example, but not limited to, where the end effector 801 is to be used to ligate tissue (e.g., a blood vessel), the arms 804, 805 are deployed around the tissue so as to wrap around the tissue without penetrating the tissue. In this way, the suture loop is positioned around the tissue before the suture is tightened and welded.

[0286] Figure 8G-8M An embodiment of the present invention is shown that eliminates the need for a flexible holder actuation linkage 827 and a flexible electrode linkage 831 adjacent to actuating the holders 825 and 826 and the electrode 830 by using a cam (see below) associated with the relative motion of the tool element 804 and the needle 805 to move the holders 825 and 826. Advantages of this alternative arrangement include (i) design simplification, and (ii) a reduction in the total number of actuators (or DoFs) required to complete a stitch, i.e., the total number of actuators required to complete a stitch is reduced by two (i.e., using this alternative arrangement, two fewer actuators or DoFs are required to complete a stitch).

[0287] Figure 8GThe distal portion of the end effector is shown with respect to the relative angular relationship between the tool element 804 and the needle 805 phantom, wherein the needle 805 phantom is divided into four regions or positions: (i) feeding, (ii) tensioning (or clamping), (iii) welding, and (iv) cutting / releasing.

[0288] Figure 8H Shown with Fig.7D A similar manner is shown in which the suture has been fed into the inner facing groove 812 in the needle 805 .

[0289] Figure 8I A partial cross-sectional view of the inner workings of the hub is shown defined by axis Y, which is the axis of rotation of tool element 804 and needle 805, and shows a cam 840 which is part of or carried by needle 805 and therefore rotates with needle 805. Fig.8D In a similar way, we can see that Figure 8I 8, holders 825 and 826 are positioned to be slightly opened by cam 840, which presses against follower surfaces 841 and 842 (which are part of holders 825 and 826).

[0290] Figure 8J The needle 805 and cam 840 (connected to the needle 805) are shown, which rotate slightly through the "feeding" area (see Figure 8G ) and rotate to the "tension (or clamp)" area (see Figure 8G ), so that the cam 840 pushes the holders 825 and 826 in the proximal direction, where the inclined surface approaches the gap between the holders, thereby causing the stepped surface 828 of the holders 825 and 826 to be similar to Fig. 7E The illustrated approach grasps the distal end of the suture so that the suture can be tensioned.

[0291] Figure 8K The sutures have been shown to be similar to Figure 7F The manner shown is tensioned, and the needle 805 is further rotated to just above the "welding" area (see Figure 8G ) before being in the "tension (or clamping)" area (see Figure 8G ) in the . Figure 8KFurther shown is a welding electrode 830 sandwiched between holders 825 and 826 (the proximal holder 826 has been removed from this cross-sectional view to allow the electrode 830 to be seen). The electrode 830 has cam follower surfaces 845 and 846 that are rotationally advanced from the holder follower surfaces 841 and 842 so that as the needle 805 and cam 840 rotate, the electrode 830 moves before the holders 825 and 826 move, thereby allowing a single cam surface to perform multiple functions in a certain sequence (i.e., move the holders 825 and 826, and then move the electrode 830). In other embodiments, multiple cam lobes may be employed to achieve this same sequential operation.

[0292] Figure 8L Shown rotated to the "weld" area (see Figure 8G ) of the needle 805 and the cam 840. Figure 8L , we see that the holders 825 and 826 (again, the proximal holder 826 has been removed from this cross-sectional view to allow the electrode 830 to be seen) still hold the distal end of the suture while the electrode 830 has been advanced to compress the overlapping portion of the suture loop. Figure 7G In a similar manner, electric current is then applied to the overlapping portions of the suture loops via (i) the conductive surfaces on the holders 825 and 826 and (ii) the electrode 830, thereby causing a weld to be formed in the overlapping portions of the suture loops.

[0293] Figure 8M Shown rotated to the "cut / release" area (see Figure 8G ) of the needle 805 and the cam 840. Figure 8M , we see that the holders 825 and 826 (the proximal holder 826 is no longer removed from this view) are advanced distally by the cam 840, causing the holding surfaces to separate while the advancing sharp cutter surface 829 crosses the suture feed opening, thereby severing the suture loop from the suture supply and releasing the stitch (i.e., the welded suture loop) from the suturing instrument.

[0294] It will be appreciated that needle 805 may be moved through its aforementioned operative positions in a variety of ways well known to those skilled in the art in view of this disclosure, such as by rotating needle 805 about a pivot axis by advancing and retracting an actuation rod.

[0295] 9A to 9E An embodiment of the invention is illustrated within the body, as might be viewed by a surgeon at a robotic console.

[0296] Fig.9AAn opening 900 in tissue 901 is shown that the surgeon wishes to close using stitches. The surgeon's hand and wrist movements at the master robot on the console are replicated within the body by the instrument end effector 801. The surgeon's thumb and index finger movements are replicated by the tool element 804 and needle 805. The surgeon positions the tool element 804 and needle 805 to rest on the tissue opening to be sutured.

[0297] Fig. 9B Shown is a tool element 804 and a needle 805 that are relatively closed in response to the surgeon bringing their thumb and index finger together. The needle 805 has penetrated through both sides of the tissue opening, thereby completing the continuous circular groove from the needle 805 to the tool element 804 (i.e., the circular grooves 812 and 810 that are united together). If they are satisfied with the stitch position defined by the needle placement, the surgeon turns on the suturing process by pressing down a foot switch or a voice-activated command or other means that can be used to turn on the action. In one embodiment, the suturing process is a fully automatic sequence. In other embodiments, some steps are automatically turned on in sequence and others are started by the surgeon. The first step in this sequence is to start the suture advancement mechanism connected to the flexible suture delivery tube 820, which fully advances a fixed length of conductive suture, which is equal to the circumference of the continuous inward facing grooves (i.e., the circular grooves 810 and 812 that are united together) of the tool element 804 and the needle 805 plus the additional material to form the overlapping area of ​​the suture loop. The next step in the sequence is to activate the actuation mechanism connected to the flexible holder actuation linkage 827 and the suture holders 825 and 826 to move the holders from the feeding position ( Fig.8D ) moves to the clamping / welding position ( Fig. 8E ), thereby grasping the distal end of the advanced suture in the overlapping area.

[0298] Fig. 9C Shown is a tool element 804 and a needle 805 which are opened and released from the tissue, leaving behind a conductive suture 905 passing through both sides of the tissue opening. In one embodiment, this motion is controlled by the surgeon at the console by separating their thumb and index finger. In another embodiment, the separation of the tool element 804 and the needle 805 is automatically opened by a robot as part of an automated suturing process.

[0299] Fig.9DA suture loop is shown being tensioned in reverse by a suture advancement mechanism. In one embodiment, tensioning is automatically turned on and the suture is pulled to a predetermined or programmed tension value. In another embodiment, the surgeon controls the tensioning process by a control device such as a trigger, a sliding mechanism, a foot switch, or a similar device. In one embodiment, the control device includes tactile feedback so that the surgeon has a sense of pulling on the suture to achieve the desired tension of the stitch. In an embodiment where the separation of the tool element 804 and the needle 805 is performed automatically by a robot, the surgeon controls and feels the tension by separating their thumb and index finger, which are temporarily disengaged from the movement of the control tool element 804 and the needle 805. Once the desired or predetermined tension has been achieved, the welding process is started by turning on an actuator connected to a flexible electrode linkage mechanism 831. The electrode 830 contacts the proximal side of the overlapping area of ​​the conductive suture loop with a predetermined contact force. Current is then passed through the overlap region (ie, by passing current between electrode 830 and holders 825 and 826), thereby causing the interface between the suture segments in the overlap region to locally melt and fuse into a weld.

[0300] Fig.9E The final step of the suturing sequence is shown, in which the sutures are removed from the clamping / welding position ( Fig. 8E ) to the cutting / release position ( Figure 8F ) actuation and movement, the tensioned welded loop 906 has been cut from the suture supply exiting the suture delivery tube 820 and released from the end actuator.

[0301] Fig. 10A An embodiment with integrated tissue grasping and manipulation capabilities is shown. This embodiment of the end effector has a first tool element 804, a needle 805, and a second, relatively hollow tool element 1000. The hollow tool element 1000 includes an opening 1001 large enough for the needle 805 to rotate through and a blunt or textured non-tissue penetrating end 1002 that is directly opposite and aligned with a matching blunt or textured non-tissue penetrating end 1003 on the tool element 804.

[0302] FIG. 10B to FIG. 10E An end effector having tissue grasping and manipulation capabilities (ie, Fig. 10A An embodiment of an end effector) as can be seen in the body by a surgeon at a robotic console.

[0303] Fig. 10B 1000 are shown separated to prepare for grasping tissue. The needle 805 is outside the hollow tool element 1000, and the needle tip 813 ( Fig. 10BThe needle 804 is protected in the hollow opening 1001. The movement of the relative tool element is controlled by the movement of the surgeon's thumb and index finger, and the needle 804 moves with the hollow tool element 1000 and maintains its protected orientation relative to the hollow tool element 1000 while the surgeon grasps and manipulates tissue as with surgical forceps.

[0304] Fig. 10C The relative tool elements 804 and 1000 are shown grasping the tissue at the location where the surgeon wishes to place the stitches. The non-tissue penetrating ends of the relative tool elements 804 and 1000 clamp the tissue at the exact point where the needle 805 will penetrate, thereby facilitating easy entry and penetration by the needle 805. When satisfied with the position, the surgeon starts the suturing process by depressing a foot switch, using a voice command, or other means of starting an automatic sequence. The first step in the sequence is to activate the actuator, which "fires" the needle 805 through the tissue.

[0305] Fig. 10D Needle tip 813 is shown penetrating tissue and seating in needle hole 811 in tool element 804 and (in conjunction with tool element 804) establishing an uninterrupted suture groove through tissue (ie, circular grooves 810 and 812 joined together).

[0306] Fig.10E The hollow tool element 1000 is shown being retracted from the tissue either by the surgeon's action or automatically as part of an automated suturing sequence, thereby leaving the needle 805 in place (i.e., having passed through the tissue and positioned in the needle hole 811 in the tool element 804). The remainder of the suturing sequence is the same as in FIG. 9B to FIG. 9E Same as described in .

[0307] Suture feeding and tensioning mechanism and replaceable suture cartridge

[0308] Fig.11 An embodiment of a suture feeding and tensioning mechanism 1200 is shown for (i) advancing a suture to form a loop configuration, and (ii) retracting the suture when it is in the loop configuration to tension the suture. In one form of the invention, the suture feeding and tensioning mechanism 1200 includes a supply 1201 of weldable suture wire, an instrument 1202 for guiding the suture to an end effector, and a reversible suture drive instrument 1203 for advancing / retracting the suture.

[0309] In the illustrated embodiment, the supply of weldable suture filament 1204 is wound on a freely rotating spool 1205. In other embodiments, the supply may be in the form of a free coil of suture, a length of straight suture, or any other form of control from which suture filament may be withdrawn.

[0310] In the illustrated embodiment, an apparatus 1202 is provided to guide the suture to the end effector. The apparatus 1202 includes a system of tubing (rigid, flexible, or a combination of the two) having an internal diameter slightly larger than the diameter of the suture filament 1204. In other embodiments, the apparatus for guiding the suture can be one or more passages machined or molded into the internal element portion of the instrument. In an embodiment with an articulated end effector, a flexible section of the tubing can be used at the distal end to guide the suture through one or more articulated joints of the end effector. In some embodiments, when the articulation of the end effector changes the distance between (i) the feeding and tensioning mechanism 1200 and (ii) the end effector, the suture guiding apparatus 1202 and / or the entire suture feeding and tensioning mechanism 1200 moves axially in the instrument to maintain a constant length of the suture filament. In other embodiments, a computer calculates a change in the length of the suture guiding passage based on the articulation angle, and compensates for the change in the length of the guiding passage by repositioning the actuator.

[0311] In the illustrated embodiment, a reversible suture drive instrument 1203 is provided. The reversible suture drive instrument 1203 includes a reversible linear actuator (in this embodiment, including a motor 1206, a screw 1207, and a nut 1208) and a translatable suture holding instrument 1209. In this embodiment, the translatable suture holding instrument 1209 includes Fig.12 and Fig.13 The collet-like device shown, wherein the collet-like device comprises a first tubular element 1301 having a slit 1302 and an outer conical surface 1303 and a second tubular element 1304 having an inner conical surface 1305. The first and second tubular elements 1301, 1304 are concentric, so that when the inner and outer conical surfaces 1303, 1305 of the first tubular element 1301 and the second tubular element 1304 are pushed together by a spring 1306, the wall of the first tubular element 1301 near the slit 1302 is twisted inwardly to hold the suture wire placed in the first tubular element 1301.

[0312] In other embodiments, different suture drive devices are optionally used, including other types of linear actuators, such as pneumatic or hydraulic cylinders, motors, cable and pulley drives, piezoelectric "inchworm" type drives and other actuators. In some other embodiments, non-linear drive devices, such as pinch rollers, can be optionally used. In other embodiments, different devices for holding sutures are optionally used, such as the above-mentioned pinch rollers, mechanical grippers, magnetic grippers, etc. In another embodiment, an optional piezoelectric inchworm actuator acts directly on the suture itself, rather than a tubular gripping mechanism. In this way, the inchworm actuator combines the functions of an actuator and a suture holding device. Another embodiment optionally uses a linear (or other) actuator to drive a translatable suture holding device assembly close to a linear spring, so that the feeding action is achieved by releasing the potential energy of the spring. This embodiment has the advantage of high-speed suture advancement within the end actuator, which utilizes the time-dependent stiffness of the polymer suture material to effectively push foreign matter out of the suture path.

[0313] Figures 14a-14d The functional operation of the suture feeding and tensioning mechanism 1200 is shown in FIG. Fig.14a The initial step of loading suture into the mechanism 1200 is shown. The actuator nut 1208 of the actuator 1203 has been driven upward (as indicated by the upward arrow in this figure) to the mechanical stop 1401, thereby compressing the spring 1306. The upward movement of the actuator nut 1208 causes relative movement of the first tubular gripping element 1301 and the second tubular gripping element 1304, thereby separating the outer conical element 1303 and the inner conical element 1305, and thus releasing the gripping features and allowing the suture 1204 to be inserted through the hole 1402 in the mechanical stop 1401, which is aligned with the inner lumens of the tubular gripping elements 1301 and 1304. The suture 1204 is then advanced through the translatable suture gripping instrument 1209, either by hand or by a mechanical instrument (not shown), to the distal end 1403 of the axially fixed non-translating flexible tube 1404, which is aligned with the suturing / ligating end effector ( Figures 14a-14d Once so loaded, the suture feeding and tensioning mechanism 1200 is capable of forming multiple suture loops (e.g., fastening stitches or ligating stitches) and will not need to be reloaded until the suture supply 1201 is exhausted.

[0314] Fig.14bThe suture feeding and tensioning mechanism 1200 is shown in its "ready to sew" configuration, in which the mechanism is ready to begin forming a suture loop. The suture 1204 has been advanced to the distal end 1403 of the non-translating flexible tube 1404. The actuator nut 1208 of the actuator 1203 has been driven slightly downward to a position that allows the spring 1306 to move the tubular gripping elements 1301 and 1304 toward each other, thereby exerting a gripping force on the suture within the translatable suture gripping instrument 1209.

[0315] Fig.14c The "feed" configuration of the suture feeding and tensioning mechanism 1200 is shown. At the appropriate time in the suturing or ligation sequence (described elsewhere), the suture 1204 will be advanced to the end effector ( Figures 14a-14d ) to form a suture loop 1405, which will be (sutured / ligated end effector, Figures 14a-14d (not shown) to form a stitch (i.e., a suture stitch or a ligature stitch). Fig.14c , the actuator nut 1208 of the actuator 1203 has already moved the translatable suture holding instrument 1209 distally (i.e., in Fig.14c The suture 1204 is moved into the close fitting lumen of the non-translating flexible tube 1404 in a downward direction, wherein the suture 1204 enters the end effector ( Figures 14a-14d ), where the suture 1204 forms a loop 1405.

[0316] Fig.14d The suture feeding and tensioning mechanism 1200 is shown in a "tensioning" configuration, wherein tension is applied to the suture to tighten the suture loop. The distal end 1406 of the suture 1204 has been grasped in the end effector ( Figures 14a-14d 1407 (not shown) and the suture can now be tensioned to form a smaller, tighter stitch 1407 (which can be a suture stitch or a ligature stitch). To achieve this tensioning action, the actuator 1203 is reversed, causing the actuator nut 1208 to translate in the upward (proximal) direction. Because the actuator nut 1208 is attached to the second (outer) tubular element 1304 and pulls the second outer tubular element 1304, and because the suture 1204 is pulled by the end effector ( Figures 14a-14dThe suture is held in place by the outer conical feature 1303 and the inner conical feature 1305, thereby reducing the holding force on the suture. A certain relationship exists between suture tension and holding force, such that at a predetermined tension, the spring will compress and the suture will slide, thereby adjusting the tension on the suture (which must be tight enough to effectively perform its surgical function and not too tight to damage tissue or break the suture filament). Once the suture begins to slide at the desired tension, the actuator 1203 will continue to move the sliding, translatable suture holding device 1209 to the inner conical feature 1305. Fig.14b The illustrated position, in which the system will be ready to form the next suture loop (e.g., suture stitch or ligature stitch) after the current suture loop is welded and cut from the end effector.

[0317] exist Fig.11 , Fig.12 , Fig.13 and Figures 14a-14d In the illustrated embodiment, the spring 1306 has a known force that will apply a known, repeatable tension on the suture when the suture is tensioned to the point where it begins to slide. In other embodiments, the spring force is adjustable by changing the initial compression of the spring manually or by remote control and prior to use or during a surgical procedure. In yet another embodiment, the suture tension is automatically adjusted in real time as part of a tactile feedback system that allows the surgeon to have a sense of the tension that the robotic instrument is applying to the tissue through the robotic instrument control station. The suture tension slide limit is associated with the tactile tension felt by the surgeon so that the tactile tension remains constant as the suture begins to slide.

[0318] In embodiments where the suture feeding and tensioning mechanism 1200 is located in the proximal end of the suturing / ligating instrument (which carries the suturing / ligating end effector), the distance between the suture supply and the end effector can be quite long; Fig.11 , Fig.12 , Fig.13 and Figures 14a-14d One of the advantages of the embodiment shown in is that the first and second tubular elements 1301, 1304 can be made very long, allowing the suture supply 1201 and suture drive means 1203 to be located in the proximal end of the instrument, and the gripping means 1209 to be located distally, near the end effector. In this way, the friction losses of pushing the suture wire through the long tube are minimized, as is the inaccuracy of the feed length caused by the compressive elasticity of pushing the long length of suture through the long tube.

[0319] In practice, robotic suturing and / or ligating instruments can be cleaned and re-sterilized after a surgical procedure, and thus can be reused on multiple patients. However, suture wires undergo rigorous sterilization and handling procedures and are difficult to re-sterilize once exposed to contaminants. In addition, sutures are consumable, and robotic suturing and / or ligating instruments may need to be reloaded with sutures after prolonged use. Therefore, in some instrument embodiments, it may be desirable to have a suture feeding and tensioning system (e.g., Fig.11 , Fig.12 , Fig.13 and Figures 14a-14d Part or all of the suture feeding and tensioning system 1200 shown in Figure 1 may be detachable from the main suturing / ligating instrument and replaceable during use. To this end, it may be desirable to provide part or all of the suture feeding and tensioning system in the form of a "suture barrel." In one embodiment, a suture barrel is provided that includes (i) an enclosure having an opening and a means for securing the enclosure to the suturing / ligating instrument, (ii) a supply of weldable suture contained within the enclosure, and (iii) means for advancing the suture out of the opening of the enclosure and into the suturing / ligating instrument and retracting the suture from the suturing / ligating instrument (e.g., to tension the suture).

[0320] Fig.14e An embodiment is shown in which the supply of suture 1201 is a removable and replaceable part of the suture feeding and tensioning mechanism 1200. Given that sutures are difficult to resterilize once exposed to contaminants, the ability to replace the supply of sutures is particularly important in situations where the instrument including the suture feeding and tensioning mechanism 1200 is reusable and must be resterilized between surgical procedures. Fig.14e In the illustrated embodiment, a suture drum 1409 is provided. The suture drum 1409 includes a length of suture 1204 on a spool 1205. The spool 1205 is mounted to a frame or housing 1401a (which may include the mechanical stop 1401 discussed above) and further includes a suture pre-feed mechanism 1410. In one embodiment, the suture pre-feed mechanism 1410 includes first and second pinch rollers 1411, 1412 that engage the suture 1204. The pinch rollers 1411, 1412 are driven by a rotational energy source 1413, such as a motor or a knob turned by hand.

[0321] The frame or housing 1401a is configured so that it can be releasably attached to an instrument including the suture feeding and tensioning mechanism 1200. The frame or housing 1401a includes an alignment feature (not shown) that ensures that the suture end 1414 exiting the suture pre-feeding mechanism 1410 is aligned with the proximal opening 1415 in the translatable suture holding instrument 1209.

[0322] In practice, changing the suture barrel 1409 in an apparatus including the suture feeding and tensioning mechanism 1200 includes the following steps:

[0323] (1) Drive the suture feeding and tensioning mechanism 1200 to the "loading position" ( Fig.14a );

[0324] (2) releasing a mechanical latching device (not shown) to release the old suture barrel to be replaced;

[0325] (3) separating the old suture barrel (and any remaining old suture) from the instrument;

[0326] (4) positioning the new barrel 1409 on the instrument and engaging the mechanical latching means (not shown) described above so as to attach the new suture barrel 1409 to the instrument and align the exiting suture end 1414 with the proximal opening 1415 in the translatable suture holding means 1209;

[0327] (5) Use the suture pre-feed mechanism 1410 to advance the exiting suture end 1414 into the translatable suture holding instrument 1209 and then all the way to the suture / ligation end effector ( Figures 14a-14e Note that in some embodiments, this pre-feeding step is automatically achieved by a controller operating a motorized rotational energy source 1413 (e.g., a motor); and in other embodiments, the pre-feeding is done manually, wherein the rotational energy source 1413 includes a hand-turned knob;

[0328] (6) Move the suture feeding and tensioning mechanism 1200 to Fig.14b The “ready to sew” position is shown in .

[0329] The remainder of the suturing cycle is identical to that described previously and Fig.14c and 14d As shown in .

[0330] It should be noted that other embodiments of the suture barrel 1409 and the suture feeding and tensioning mechanism 1200 may vary in terms of the location of the components within the system. In other words, an embodiment may have a suture barrel 1409 that includes only the spool 1205 of suture, and the suture pre-feeding mechanism 1410 may be housed in the device along with the rest of the suture feeding and tensioning mechanism 1200; or an embodiment may include a suture barrel 1409 that includes not only the suture 1204, the spool 1205, the frame or housing 1401a, and the suture pre-feeding mechanism 1410, but also a translatable suture holding instrument 1209, while the reversible suture driving instrument 1203 is still part of the device; or an embodiment may include any other similar division of components while still maintaining the essence of the invention.

[0331] Ligation end effector used in robotic surgery

[0332] Fig.15a A novel end effector 1500 is shown that is particularly suitable for surgical ligation of blood vessels in the body. Although some embodiments of the end effector shown can be directly coupled to the distal end of the shaft of the surgical instrument under robotic control, Fig.15a Other embodiments are shown in which the platform of this end effector 1500 includes a rolling articulated joint for pitch (P) and yaw (Y) about orthogonal axes and roll (R) about a midline. Such a platform is often referred to as a "wrist" and may include one, two, three, or more controllable mechanical degrees of freedom (DOF). There is also a fourth degree of freedom, which includes a first opposing jaw member 1502 and a second opposing jaw member 1503 that move symmetrically about plane 1501 and pivot about hinge axis 1504 in response to axial movement of a drive pin 1505 that engages a slot ( Fig.15a not shown).

[0333] Fig.15b The arrangement and relative positions of some of the internal components that are added to the above-described instrument platform to form a novel suturing and / or ligating end effector 1500 are shown. These components include a first gripper 1506 and a second gripper 1507, a gripper actuation clip 1508, a flexible actuator rod 1509, a rigid suture guide tube 1510, a flexible suture guide tube 1511, and a jaw hinge pin 1512. The functions of these components will become clear in the subsequent description and drawings, and they are presented here in an outlined form to allow the reader to understand their location within the instrument platform.

[0334] Figure 16a-16cThe first and second opposing jaw members 1502, 1503 are shown with the selected end effector support structure removed. In response to the drive pin 1505 being positioned in the first jaw slot 1601 and the second jaw slot 1602 (in Figure 16a-16c The jaw members 1502, 1503 pivot about the hinge axis 1504 to move axially (distal-proximal along the midline of the end effector) in the second jaw member 1503 (located in the second jaw member 1503, behind the first jaw member 1502). The jaw slots 1601, 1602 have two geometric areas: the first slot area 1603 (in the Fig.16a 1601, but also present in the second jaw slot 1602), wherein axial (proximal / distal) movement of the drive pin 1505 causes reciprocating motion of the first jaw 1502 and the second jaw 1503; and the second slot area 1604 (in Fig.16a 1601, but also present in the second jaw slot 1602), wherein axial movement of the drive pin 1505 does not cause the jaws to move (the jaws are instead held in a closed orientation relative to each other, as shown in FIG. Fig.16b and Fig.16c 1602). It can thus be seen that over the length of the axial travel of the drive pin 1505 in the slots 1601 and 1602, there are two regions: Region 1 from the most proximal position of the drive pin 1505 to approximately the midpoint of its range of motion, wherein movement of the drive pin 1505 causes movement of the jaw members 1502, 1503 (see Fig.16a and Fig.16b ); and an area 2 from approximately the midpoint of the drive pin travel range to the farthest drive pin position, where no jaw movement occurs (see Fig.16b and Fig.16c ). In this way, it can be seen that a single degree of freedom (ie, axial movement of the actuator rod 1509 in the slots 1601 , 1602) can be used to achieve multiple functions by operating in different regions.

[0335] Fig.17aThe assembly of parts for transferring, welding, trimming and releasing the welded suture loop to form a surgical stitch for suturing and ligation is shown. The axial movement of the first gripper 1506 and the second gripper 1507 is limited by a hinge pin 1512. The gripper actuation clamp 1508 is connected to a flexible actuator rod 1509, which moves axially in response to user and / or computer control input. The clamping feature 1701 on the gripper actuation clamp 1508 slides on the first gripper 1506 and the second gripper 1507 and clamps the gripper together at different positions along its length as the flexible actuator rod 1509 moves. In other words, by the axial movement of the flexible actuator rod 1509, the first gripper 1506 and the second gripper 1507 can move toward or away from each other.

[0336] Fig.17b Shows Fig.17a Exploded view of the components in . There are facets 1702 on the inner opposing edges of the first and second holders 1506, 1507, three on each side (1702a, 1702b, 1702c), so that the holders swing at an angle close to each other depending on the position at which the holders are clamped along their length by the holder actuator 1508. Clamped between the holders 1506, 1507 is an electrode 1703 having an exposed conductive surface 1704 at its distal end. The electrode 1703 is connected to a switching current source (not shown) by a flexible wire (not shown). A first protruding headed pin 1705 extends proximally from the electrode 1703, and a light spring 1706 abuts the head 1706a of the pin 1705 proximal to the hinge pin 1512 (see Figures 18a-18f ) and countersunk hole 1706b (see Figures 18a-18f ) acts to maintain a small proximal (downward) force on the electrode 1703. Housed within a central hole 1707 in the gripper actuator clip 1508 is a second headed pin 1708 having a head 1708a supported with a heavy spring 1709 which engages an annular shoulder 1709a disposed at the base of the central hole 1707. The gripper actuator clip 1508 includes a sharp edge 1710 on one side.

[0337] Figures 18a-18f yes Fig.17a and Fig.17b A cross-sectional view of the assembly shown in , illustrating sequential functional aspects of this assembly.

[0338] Fig.18aFlexible actuator rod 1509 is shown in its most proximal position. Drive pin 1505 engages first jaw slot 1601 and second jaw slot 1602 (neither of which is shown in this view) to position first jaw 1502 and second jaw 1503 (neither of which is shown in this view) in their fully open positions (i.e., Fig.16a ). Gripper actuator clamp feed feature 1701 ( Fig.18a 1506 and the second holder 1507 at their most proximal edges, such that the holders are arranged at their three sets of opposite cut surfaces ( Fig.18a 1502a in the most proximal side cut surface 1702a (not shown) is swung to create a gap 1801 at the distal edge of the first and second grippers 1506, 1507. In this component orientation, the gripper gap 1801 is wider than the diameter of the suture wire.

[0339] Fig.18b A flexible actuator rod 1509 is shown which moves distally so that the drive pin 1505 (connected to the actuator rod 1509) also moves distally to the distal end of region 1 (ie, Fig.16b By sliding along the edges of grippers 1506 and 1507, the pinch feature 1701 carried by gripper actuator clip 1508 (which is also connected to flexible actuator rod 1509) moves distally the same distance, however, the pinch feature 1701 remains within the three gripper sections ( Fig.18b 1702a) in the region of the most proximal side cut surface 1702a (not shown in the figure), and therefore the wider gripper gap 1801 remains unchanged. An important aspect of this embodiment is the ability to use one actuator (one degree of freedom) to control multiple functions. It can be seen that when the actuator rod 1509 moves the drive pin 1505 in area 1, the jaws 1502, 1503 move according to the user input and move in areas 17a and Fig.17b The components shown in remain unaffected. When the actuator rod 1509 causes the drive pin 1505 to move in region 2, Fig.17a and Fig.17b The assembly shown in is activated while the jaws 1502, 1503 remain closed and stationary.

[0340] Fig.18c The flexible actuator rod 1509 and the connected drive pin 1505 and the pinch feeder feature 1701 are shown being driven distally such that the drive pin 1505 is in the proximal region of region 2 (ie, Fig.16bThe pinch feature 1701 has been slid distally along the edges of the holders 1506 and 1507 to a position approximately midway along their lengths, thereby causing the middle one of the three holder facets 1702b ( Fig.18c 1805 (not shown). As a result, the distal surfaces of the holders 1506, 1507 have moved toward each other to reduce the width of the holder gap 1801 so that it is less than one suture diameter width (but still greater than zero). The first step surface 1803 and the second step surface 1804 on the inner surfaces of the holders 1506 and 1507, respectively, form a step gap 1805 ( Fig.18c ), which has a width greater than one suture diameter and less than 2 suture diameters. This gap arrangement 1805 allows the suture to be passed unconstrained between the first step surface 1803 and the second step surface 1804 while being unable to escape through the now reduced gap 1801.

[0341] Fig.18d The actuator rod 1509 is shown further distally moved. The pinch feature 1701 on the gripper actuator clamp 1508 now grips the first gripper 1506 and the second gripper 1507 along the distal third of their length, thereby swinging the grippers to the most distal side cut surface 1702c ( Fig.18d 1506, 1507), thereby further narrowing the distal gripper gap 1801 and narrowing the step gap 1805 to a width less than one suture diameter, thereby allowing the step surfaces 1803 and 1804 to grasp the suture loop passing between the grippers 1506, 1507. Once the distal end of the suture loop is grasped by the grippers 1506, 1507, the suture feeding mechanism (e.g., Fig.11 , Fig.12 , Fig.13 and Figures 14a-14d The suture feeding mechanism shown in ) can be reversed and the suture loop tensioned to the desired force.

[0342] Fig.18e The actuator rod 1509 is shown further distally moved. It can be seen that the second headed pin 1708 (held distally by the force of the heavy spring 1709) contacts the first headed pin 1705 (held proximally by the force of the light spring 1706), thereby causing the first pin 1705 and the connected electrode 1703 to move distally (i.e., Fig.18e The distal conductive electrode surface 1704 is moved upward in the direction of use shown and contacts the overlapping suture segments ( FIG. 1804 ) held near the step gap 1805. Fig.18e1706). When the overlapping suture segments block further distal movement of the electrode 1703, continued distal movement of the actuator rod 1509 compresses the heavy spring 1709. The force of the electrode 1703 supported on the overlapping suture segments (held between the holders 1506 and 1507) is now equal to the compression spring force of the heavy spring 1709 minus the compression spring force of the light spring 1706. In one embodiment, the holders 1506 and 1507 are made of a conductive material and are connected to one pole of a power source (e.g., electrical ground) and the conductive surface 1704 of the electrode 1703 is connected to a switched opposite pole of the same power source. In a preferred embodiment, the holders 1506 and 1507 are made of a non-conductive material (e.g., ceramic) and the stepped surfaces 1803 and 1804 of the holders 1506 and 1507 have a conductive coating that is connected to one pole of a power source, and the conductive surface 1704 of the electrode 1703 is connected to the switched opposite pole of the same power source, so that a controlled current (triggered by an external instrument) can be caused to flow between the overlapping segments of the suture loop, thereby welding the overlapping segments of the suture loop together. After welding, a dwell time of up to 1.2 seconds may be required to allow the molten polymer in the weld area to solidify before proceeding to the next step in the sequence.

[0343] Fig.18f The actuator rod 1509 is shown moved to its most distal position. The sharp edge 1710 of the actuator clip 1508 (the distal side of the assembly, also at Fig.17b ) slides distally with the movement of the actuator rod 1509 so that the sharp edge 1710 extends across the opening of the rigid suture guide tube 1510 ( Fig.15b ), thereby trimming the welded suture loop from the suture supply. In the final step of the sequence, the actuator rod 1509 is moved to its middle (i.e., as shown in Fig.16c The distal end of the region 1 shown in FIG. Fig.18b The configuration shown in the figure, thereby opening the distal gripper gap 1801 again to a width greater than one suture diameter, and thereby releasing the tensioned welded trimmed suture loop from the end effector. The user is then free to manually open the first jaw 1502 and the second jaw 1503 ( Fig.18f ), thereby returning to Fig.18a The structure is designed to reposition the end effector for the next stitch.

[0344] Figures 19a-19e An embodiment of a ligation device 1500 is shown in use from the user's perspective.

[0345] Fig.19aThe first jaw 1502 and the second jaw 1503 are shown having first and second inwardly facing grooves 1901, 1902, respectively. The first jaw 1502 and the second jaw 1503 pivot about the hinge pin 1512. The drive pin 1505 is in its fully proximal position so that the jaws are fully open (i.e., in Fig.16a shown in the position).

[0346] Fig.19b The drive pin 1505 is shown in its mid-stroke position (i.e., at the distal end of zone 1 / beginning of zone 2) so the jaws are fully closed (i.e., at the distal end of zone 1 / beginning of zone 2). Fig.16b 1502, 1503). Prior to initiating the ring forming sequence, the jaws 1502, 1503 are free to open and close in response to input from the user at the surgical robot console or other input device. All surgeon-initiated jaw movements occur with the drive pin 1505 operating in area 1. In order to ligate (tie) a blood vessel or other tubular anatomical structure (not shown), the surgeon will first dissect the connective tissue attached to the vessel to access its entire circumference. The surgeon will then close the jaws 1502, 1503 around the vessel to be ligated under manual control and position the instrument where they want to place a stitch (e.g., a ligation ring). When ready, the user will begin the ring forming process by generating a control command, such as by depressing a foot switch, pressing a button, issuing a voice command, or taking a similar action to start the ring forming sequence.

[0347] Fig.19c The first step in an automated or semi-automated suturing process controlled by a computer or other type of sequence controller is shown. The suture loop 1903 (shown in phantom within the jaws 1502, 1503) is advanced (i) through the suture guide tubes 1511 and 1510, and (ii) through the gap 1805 (formed between the first and second grippers 1506, 1507), wherein the gap 1805 has a width greater than one suture diameter but less than two suture diameters (see FIG. 1 ). Fig.18c ), (iii) around the aligned inwardly facing grooves 1901 and 1902 formed in the jaws 1502 and 1503, respectively, and (iv) back into the gap 1805 formed between the grippers 1506, 1507 so that the distal end of the suture loop ends between the stepped surfaces 1803 and 1804 of the grippers 1506, 1507. The actuator rod 1509 will then be advanced to Fig.18dThe surgeon moves the gripper actuator clip 1508 upward to the position shown, causing the gripper actuator clip 1508 to move upward so that the grippers 1506, 1507 grasp the distal end of the suture loop. The suture feeding mechanism then reverses to tension the suture loop around the vessel to be ligated. In one embodiment, tensioning is part of an automatic sequence and the tension value is predetermined. In another embodiment, the surgeon uses tactile feedback through a tactile action at the console to select the tension value or tension stitch.

[0348] Fig.19d A tensioned suture loop 1904 is shown in the device as it is welded (see Fig.18e ) and pruning (see Fig.18f ) step.

[0349] Fig.19e The final step of the automatic process is shown, in which the actuator rod returns to the release position (see Fig.18b ), so that the holders 1506, 1507 reopen to release the suture loop 1905 from the end effector. Fig.19e In the embodiment of the present invention, the completed stitch 1905 has been released and control of the jaws 1502, 1503 has now been returned to the user. In practice, unless a manual suture tensioning step is included, the automatic loop forming process should take less than one second to complete the stitch.

[0350] Fig.19f Jaws 1502, 1503 are shown having been manually opened by a user, thereby releasing the ligated vessel and ready for repositioning for the next suture loop.

[0351] Modifications of the Preferred Embodiments

[0352] It should be understood that many additional changes in the details, materials, steps, and arrangements of components, which have been described and illustrated herein to explain the nature of the invention, may be made by those skilled in the art while still remaining within the principles and scope of the invention.

Claims

1. An apparatus for applying a suture to tissue, wherein the suture comprises a biocompatible conductive thermoplastic material and has a diameter, the apparatus comprising: a shaft having a distal end and a proximal end; a jaw assembly comprising a first jaw member and a second jaw member, the first jaw member comprising a first tip, a first channel and a first slot for slidably receiving a suture, the second jaw member comprising a second tip, a second channel and a second slot for slidably receiving a suture, wherein at least one of the first jaw member and the second jaw member is pivotally mounted to the shaft so as to be movable between: (i) at least one open position in which the first and second tips of the first and second jaw members are separated from each other by a gap, and (ii) a closed position in which the first and second tips of the first and second jaw members are engaged with each other so that the first and second channels form a continuous path; A gripping assembly comprising a first gripper having a first gripping surface, a second gripper having a second gripping surface, and a gripper clamp for engaging the first gripper and the second gripper to move at least one of the first gripper and the second gripper between: (i) a release position in which the first gripping surface and the second gripping surface of the first gripper and the second gripper are separated from each other by a gap larger than a diameter of a suture used to form a suture loop, and (ii) a gripping position in which the first gripping surface and the second gripping surface of the first gripper and the second gripper are separated from each other by a distance smaller than the diameter of a suture used to form the suture loop; an electrode assembly comprising an electrode for selectively applying an electrical potential to a suture clamped between the first and second gripping surfaces of the first and second gripping surfaces of the first and second gripping surfaces, wherein the electrode is movable between: (i) a non-welding position in which the electrode is spaced from the suture clamped between the first and second gripping surfaces of the first and second gripping surfaces, and (ii) a welding position in which the electrode engages the suture clamped between the first and second gripping surfaces of the first and second gripping surfaces; an actuator rod assembly for selectively operating the jaw assembly, the gripper assembly, and the electrode assembly in response to movement of the actuator rod assembly in a distal direction, the actuator rod assembly comprising an actuator rod movably mounted to the shaft, a drive pin mounted to the actuator rod and extending through the first slot of the first jaw member and the second slot of the second jaw member, the gripper clip of the gripper assembly being mounted to the actuator rod, and the electrode of the electrode assembly being spring biased away from the actuator rod and engaged with the first and second grippers of the gripper assembly when the gripper assembly is in its gripping position, wherein progressive movement of the actuator rod in a distal direction, when the electrode assembly is in its non-welding position, the gripper assembly is in its released position, and the jaw assembly is in its open position and the suture is positioned between the first and second grippers of the gripper assembly, sequentially causes: (a) at least one of the first jaw and the second jaw of the jaw assembly moves from its open position to its closed position; (b) at least one of the first holder and the second holder moves from its release position to its holding position; and (c) the electrode is moved from its non-welding position to its welding position; And the subsequent stepwise movement of the actuator rod in the proximal direction sequentially results in: (d) the electrode moves from its welding position to its non-welding position; (e) at least one of the first holder and the second holder moves from its holding position to its releasing position; and (f) At least one of the first jaw and the second jaw of the jaw assembly moves from its closed position to its open position.

2. The apparatus of claim 1, wherein the first slot of the first jaw member comprises a curved portion and a straight portion, and further, wherein the second slot of the second jaw member comprises a curved portion and a straight portion.

3. The device according to claim 1, wherein the first holder includes at least one proximal first cut surface, at least one distal first cut surface and at least one intermediate first cut surface disposed between the at least one proximal first cut surface and the at least one distal first cut surface, wherein the second holder includes at least one proximal second cut surface, at least one distal second cut surface and at least one intermediate second cut surface disposed between the at least one proximal second cut surface and the at least one distal second cut surface, and further, wherein as the first holder and the second holder move between their release position and their gripping position, they rest on their respective cut surfaces.

4. The apparatus of claim 1 , further comprising a cutter blade mounted to the gripper clamp so as to be movable between: (i) a non-cutting position in which the cutting blade is spaced from the suture clamped between the first gripping surface and the second gripping surface of the first gripper and the second gripper, and (ii) a cutting position in which the cutting blade engages the suture clamped between the first gripping surface and the second gripping surface of the first gripper and the second gripper; And further, wherein the actuator rod is configured to move the cutter blade from its non-cutting position to its cutting position after step (c) and before step (d).

5. The apparatus of claim 1 , wherein the electrical potential is applied across a suture clamped between the first holding surface and the second holding surface of the first holding surface and the second holding surface using (i) the electrode and (ii) at least one of the first holding surface and the second holding surface.

6. The apparatus of claim 1, wherein the first channel in the first jaw member is a groove, and further, wherein the second channel in the second jaw member is a groove.

7. A medical device comprising: a jaw assembly, a grip assembly, an electrode assembly, and an actuator rod assembly operably coupled to the jaw assembly, the grip assembly, and the electrode assembly; The jaw assembly includes a first jaw member and a second jaw member, The first jaw member includes a first tip, a first slot, and a first channel for receiving a suture, The second jaw member includes a second tip, a second slot, and a second channel for receiving a suture, At least one of the first jaw member and the second jaw member is movable between an open position and a closed position, The open position is a position where the first and second tips of the first and second jaw members are separated from each other by a gap, and The closed position is a position in which the first channel and the second channel form a continuous channel for the suture; the actuator rod assembly includes a movable actuator rod and a drive pin mounted to the actuator rod, the drive pin extending through the first slot of the first jaw member and the second slot of the second jaw member; The holding assembly comprises a first holding device, a second holding device and a holding device clip, The first holder comprises a first holding surface, The second gripper comprises a second gripping surface, The gripper clip is mounted to the actuator rod and engages the first gripper and the second gripper to move at least one of the first gripper and the second gripper between a release position and a gripping position, The release position is a position where the first gripping surface and the second gripping surface of the first gripper and the second gripper are separated from each other by a gap larger than a diameter of the suture, and The gripping position is a position where the first gripping surface and the second gripping surface of the first gripper and the second gripper are separated from each other by a distance smaller than the diameter of the suture; and The electrode assembly includes an electrode configured to apply an electrical potential to the suture clamped between the first and second gripping surfaces of the first and second gripping devices, The electrode is movable between a non-welding position and a welding position, The non-welding position is a position where the electrode is spaced apart from the suture line between the first and second gripping surfaces of the first and second grippers, and The welding location is the location where the electrode engages the suture between the first gripping surface and the second gripping surface of the first gripper and the second gripper; wherein when the holder assembly is in the holding position, the electrode of the electrode assembly is biased by a spring away from the actuator rod and engaged with the first holder and the second holder of the holder assembly; and wherein with the electrode assembly in the non-welding position, the gripping assembly in the released position, the jaw assembly in the open position, and the suture positioned between the first gripper and the second gripper of the gripping assembly, a first stepwise movement of the actuator rod in the distal direction sequentially results in: (a) at least one of the first jaw and the second jaw of the jaw assembly moves from the open position to the closed position; (b) at least one of the first gripper and the second gripper moves from the release position to the gripping position; and (c) the electrode moves from the non-welding position to the welding position; and the subsequent second stepwise movement of the actuator rod in the proximal direction in turn results in: (d) the electrode moves from the welding position to the non-welding position; (e) at least one of the first gripper and the second gripper moves from the gripping position to the releasing position; as well as (f) At least one of the first jaw and the second jaw of the jaw assembly moves from the closed position to the open position.

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