Seaming device

Abstract

This invention provides a suturing device and method that improves the handling of sutures in robotic surgery. [Solution] The suturing device 30 includes a foldable body 40 having a first side 42 connected to a second side 44 by a hinge 50 at a hinge end 46. The first side 42 and the second side 44 each have a cantilever end 48 opposite the hinge end 46. The foldable body 40 is configured to move between an open position and a closed position. A suture retainer 80 is located inside the foldable body 40 and is configured to receive sutures. An opening 100 is formed in the wall of the second side 44 of the foldable body 40.

Description

Technical Field

[0001] Cross - reference to Related Applications This application is a continuation - in - part of U.S. Patent Application No. 17 / 341,497, filed on June 8, 2021, with the title "APPARATUS FOR CLOSING A SURGICAL SITE", and claims the benefit of priority of U.S. Patent Application No. 17 / 571,992, filed on January 10, 2022, with the title "APPARATUS FOR CLOSING A SURGICAL SITE", the entire content of which is incorporated herein by reference.

[0002] This disclosure relates to surgical instruments, and more particularly, to instruments and methods for improving the handling of sutures in robotic surgery.

Background Art

[0003] The use rate of robotic technology in operating rooms has increased remarkably. In 2017, the number of robotic - assisted surgery cases in the United States alone reached approximately 644,000. Robotic - assisted surgery is globally utilized in multiple subspecialties of surgery. Examples include cardiac surgery, thoracic surgery, gynecology, urology, otolaryngology, colorectal surgery, and general surgery. In each subspecialty, there are various robotic surgery cases that require suturing.

Summary of the Invention

Problems to be Solved by the Invention

[0004] Handling sutures in robotic surgery is a common obstacle to an efficient surgical workflow. Poor suture handling can lead to longer surgery times, knots, breakage, or unexpected snapping of sutures, causing frustration for surgeons and ultimately hindering the more frequent use of robotic technology. Currently, surgeons address suture handling problems by substituting multiple shorter sutures for longer ones to complete cases. This method increases the total amount and cost of sutures, increases surgery costs due to longer surgery times, and increases the possibility of needles being left in the patient's body.

[0005] The disclosed embodiments will help in the efficient handling of sutures in robotic surgery. As a result, overall costs will be reduced and patient safety will be increased across all robotic surgery specialties. Ultimately, this device and method will help in the global spread of computer-assisted surgery. [Means for solving the problem]

[0006] This disclosure includes one or more of the following features that may constitute patentable subject matter, either individually or in any combination, as described in the attached claims:

[0007] According to a first aspect of the disclosed embodiment, the suturing device includes a foldable body configured to be inserted into a patient's surgical site. The foldable body has a first side connected to a second side by a hinge at a hinge end. The first and second sides each have a cantilever end opposite the hinge end. The foldable body is configured to move between an open position and a closed position. A suture retainer is positioned within the foldable body and configured to receive a suture. An opening is formed in the wall of the foldable body. The end of the suture is configured to extend through the opening so that the suture can be contacted within the patient's surgical site when the foldable body is in the closed position. A first side hole extends through the first side of the foldable body. A cartridge is configured to be detachably inserted through the first side hole. The suture is configured to be wound around the cartridge to assist in positioning the suture around the suture retainer.

[0008] In some embodiments of the first aspect, the suture retainer may extend from the inner wall of the first side of the folding body and may be positioned around the first side hole. The suture retainer may include a plurality of projections positioned around the first side hole. The suture may be configured to be wound around the plurality of projections. The cartridge may include a plurality of notches. When the cartridge is inserted through the first side hole, each of the plurality of projections may be configured to fit into one of the plurality of notches.

[0009] Optionally, in the first embodiment, the second side hole may extend through the second side of the folding body. When the cartridge is inserted through the first side hole and the folding body is moved to the closed position, at least a portion of the cartridge may extend through the second side hole. When the cartridge is inserted through the first side hole, moving the folding body to the closed position can help position the suture around the suture retainer. When the cartridge is inserted through the first side hole and the folding body is moved to the closed position, the cartridge may be removable from the folding body through the first side hole. The cartridge may include an inclined end to allow at least a portion of the cartridge to move through the second side hole when the folding body is moved to the closed position.

[0010] In the first embodiment, it may be desirable that the suture be configured to be positioned on the suture retainer at least one of the following times: during a medical procedure on the patient and before a medical procedure on the patient. At least one notch may be formed on at least one of the first and second sides of the folding body. A surgical robotic arm may be configured to be connected to the folding body at at least one notch.

[0011] According to a second aspect of the disclosed embodiment, a method for preparing a suturing device including a foldable body configured to be inserted into a patient's surgical site may include moving the foldable body to an open position by rotating a first side of the foldable body away from a second side of the foldable body. The first side is connected to the second side by a hinge at a hinge end. The method also includes detachably inserting a cartridge through a first side hole extending through the first side of the foldable body. Furthermore, the method includes winding suture thread onto the cartridge to help position the suture thread around a suture retainer located inside the foldable body. The method also includes extending the end of the suture thread through an opening formed in the wall of the foldable body. Furthermore, the method includes moving the foldable body to a closed position by rotating the first side of the foldable body toward a second side of the foldable body. The suture is configured such that when the foldable body is in the closed position, the end of the suture extends through the opening so that it can be made contact with the patient's surgical site.

[0012] In some embodiments of the second aspect, the method may also include inserting the cartridge through a suture retainer when inserting the cartridge into the first side hole. The suture retainer may include a plurality of projections arranged around the first side hole. The method may also include inserting the cartridge between the plurality of projections when inserting the cartridge into the first side hole. The cartridge may include a plurality of notches. Furthermore, the method may include positioning each of the plurality of projections within one of the plurality of notches when inserting the cartridge into the first side hole.

[0013] Optionally, in a second embodiment, the method also includes extending at least a portion of the cartridge through a second side hole that penetrates a second side of the folding body when the cartridge is inserted through a first side hole and the folding body is moved to the closed position. The method may also include moving the folding body to the closed position when the cartridge is inserted through the first side hole to help position the suture around the suture retainer. Furthermore, the method may also include removing the cartridge from the folding body through the first side hole after the cartridge has been inserted through the first side hole and the folding body has been moved to the closed position. The cartridge may include an inclined end. The method may also include guiding at least a portion of the cartridge through the inclined end to move through the second side hole when moving the folding body to the closed position.

[0014] In a second embodiment, the method may also include placing the suture on a suture retainer at least during and before a medical procedure on the patient. Furthermore, the method may also include connecting a foldable body to a surgical robotic arm.

[0015] For a detailed explanation, please refer in particular to the attached drawings. [Brief explanation of the drawing]

[0016] [Figure 1] Figure 1 is a perspective view of an automated surgical system. [Figure 2] Figure 2 is a top-side perspective view of a suturing device having a foldable body whose first side is connected to a second side by a hinge at the hinge end, showing the foldable body in the open position. [Figure 3] Figure 3 is a perspective view of the bottom side of the foldable body in the open position. [Figure 4] Figure 4 is a perspective view of the top side of the foldable body in the closed position. [Figure 5] FIG. 5 is a perspective view of the upper surface side of the foldable body in the open position, with a suture wound around the suture retainer. [Figure 6] FIG. 6 is a perspective view of the upper surface side of the foldable body in the closed position, with the end of the suture extending through the opening. [Figure 7] FIG. 7 is a perspective view of one embodiment of a cartridge configured to receive a suture. [Figure 8] FIG. 8 is a perspective view of another embodiment of a cartridge configured to receive a suture. [Figure 9] FIG. 9 is a perspective view of the upper surface side of another suturing device having a foldable body with a first side connected to a second side by a hinge at the hinge end, showing the foldable body in the open position. [Figure 10] FIG. 10 is a perspective view of the bottom surface side in the state where the foldable body shown in FIG. 9 is in the open position. [Figure 11] FIG. 11 is a perspective view of another embodiment of a cartridge configured to receive a suture. [Figure 12] FIG. 12 is a perspective view of the cartridge shown in FIG. 11 inserted into the first side of the foldable body shown in FIG. 9, showing the foldable body in the open position. [Figure 13] FIG. 13 is a perspective view of the cartridge shown in FIG. 11 inserted into the first side and the second side of the foldable body shown in FIG. 9, showing the foldable body in the closed position. [Figure 14] FIG. 14 is a flowchart of a method for preparing the suturing device shown in FIG. 9.

BEST MODE FOR CARRYING OUT THE INVENTION

[0017] Although various modifications and alternative forms are possible for the concepts of the present disclosure, exemplary and specific embodiments thereof are shown by way of example in the drawings and will be described in detail herein. However, it should be understood that the intention is not to limit the concepts of the present disclosure to the specific forms disclosed herein, but rather to embrace all modifications, equivalents, and alternatives within the spirit and scope of the invention as defined by the appended claims.

[0018] Referring to FIG. 1, the automated surgical system 10 includes at least one robotic arm 12 having a plurality of fingers 14 for grasping surgical instruments. The robotic arm 12 is positioned at the surgical site so as to be able to manipulate the instrument at the surgical site. The control panel 20 includes a plurality of controls 22, such as joysticks, for a surgeon to operate the robotic arm 12 during surgery.

[0019] Referring to Figure 2, the suturing device 30 is configured to be used with the system 10 by fixing it to one of the multiple fingers 14 of the robot arm 12. The suturing device 30 is configured to be inserted into the patient's surgical site to facilitate the closure of the surgical site after the surgical procedure. The suturing device 30 also holds a suture 32 (described in more detail later) that can be pulled out from the suturing device 30 to facilitate the closure of the surgical site. The suture 32 is configured to be pulled out from the suturing device 30 while the suturing device 30 is inserted into the surgical site, such as inside the patient's body. Before removing the suturing device 30 from the surgical site, the suture 32 is passed through the tissue to be closed. After removing the suturing device 30 from the surgical site, the suture 32 is ligated at least in one place to close the surgical site. In at least one embodiment, before the surgical procedure, a caregiver or technician winds the suture 32 into the suturing device 30. Therefore, the suturing device 30 can accommodate any type of suture used in a medical facility. A caregiver or technician selects the appropriate type of suture for the surgical procedure and winds this appropriate type of suture into the suturing device 30 in the medical facility before the surgical procedure. In another embodiment, the suture 32 may be pre-loaded into the suturing device 30.

[0020] The suturing device 30 includes a foldable body 40 having a first side 42 and a second side 44. The first side 42 and the second side 44 each include a hinge end 46 and a cantilever end 48. A pair of side walls 56 extend between the hinge end 46 and the cantilever end 48 of each of the first side 42 and the second side 44. The first side 42 is connected to the second side 44 by a hinge 50 at the hinge end 46 of the first side 42 and the second side 44. The hinge 50 connects the foldable body 40 like an articulation, allowing it to move between an open position 52 (shown in Figure 2) and a closed position 54 (shown in Figure 4). The cantilever end 48 of the second side 44 of the foldable body 40 includes a latch 60, which has an arm 62 and a flange 64 extending outward from the end 66 of the arm 62. An opening 68 is provided at the cantilevered end 48 of the first side surface 42 of the folding body 40. A latch 60 is configured to extend through the opening 68 so that when the folding body 40 is in the closed position 54 (as shown in Figure 4), the first side surface 42 of the folding body 40 is secured to the second side surface 44 of the folding body 40 by a flange 64.

[0021] Referring to Figure 2, the suture retainer 80 is located within the foldable body 40 and is configured to receive the suture 32. The suture retainer 80 extends from the inner wall 82 of the first side 42 of the foldable body 40. The suture retainer 80 includes a plurality of projections 84 extending from the inner wall 82. In an exemplary embodiment, the plurality of projections 84 are arranged in two rows 86 between the hinge end 46 and the cantilever end 48 of the first side 42 of the foldable body 40. In other embodiments, the suturing device 30 may include only one row 86 of projections 84, or it may include three or more rows 86 of projections 84. In some embodiments, the suturing device 30 may include only one projection 84. In some embodiments, a caregiver or technician winds the suture 32 onto the suture retainer 80 in a medical facility. In other embodiments, the suture retainer 80 is pre-loaded with sutures.

[0022] An opening 100 is formed at the cantilever end 48 of the second side 44 of the foldable body 40. In an exemplary embodiment, the opening 100 is formed at the corner 102 of the cantilever end 48 of the second side 44 of the foldable body 40. In another embodiment, the opening 100 may be in the middle of the cantilever end 48 of the second side 44 of the foldable body 40. In yet another embodiment, the opening 100 may be formed in the side wall 56 of the second side 44. In some embodiments, it may also be conceivable to form the opening 100 in the side wall 56 of the first side 42. When the suture thread 32 is wound onto the suture retainer 80, the end 110 with the needle 112 of the suture thread 32 extends from the suturing device 30 (as will be described in detail later).

[0023] Referring to Figure 3, notches 120 are formed adjacent to the hinge ends 46 of the first side 42 and the second side 44 of the suturing device 30. In particular, a first pair of notches 122 is formed adjacent to the hinge end 46 of the first side 42, and a second pair of notches 124 is formed adjacent to the hinge end 46 of the second side 44. In the closed position 54 (as shown in Figure 4), the first pair of notches 122 is located opposite the second pair of notches 124. The fingers 14 of the robot arm 12 are configured to grasp the suturing device 30 at the notches 120 so that the suturing device 30 is fixed to the system 10 during the surgical procedure.

[0024] Figure 5 shows the suture 32 wound around the suture retainer 80. The suture 32 is wound in a loop around the outside of the suture retainer 80. That is, the suture 32 is wound around the outside of each of the multiple projections 84. As shown in Figure 6, in the closed position 54, the end 110 of the suture 32 extends through the opening 100. Therefore, during the surgical procedure, the finger 14 of the robot arm 12 can pull the needle 112 to unwind the suture 32 and pull it out through the opening 100. Unwinding the suture 32 may make it easier to pass the suture through the patient's tissue and close the surgical site.

[0025] Referring now to Figure 7, the cartridge 150 for positioning the suture thread 32 in the apparatus 30 includes a body 152. The body 152 has an upper end 154 and a lower end 156. A main body 160 extends from a flange 162 at the upper end 154 to a lower body 164 at the lower end 156. The width 170 of the main body 160 is wider than the width 176 of the lower body 164, and the length 174 of the main body 160 is longer than the length 178 of the lower body 164, so that a ledge 180 is formed between the main body 160 and the lower body 164. The ledge 180 has several notches 182 that extend into the main body 160.

[0026] A sliding bracket 190 extends around the main body 160. The bracket 190 is configured to slide along the height 192 of the main body 160. Due to the flange 162, the bracket 190 does not slip and detach from the upper end 154 of the cartridge 150. The bracket 190 has opposing ends 194, each provided with multiple suture projections 196. Each suture projection 196 is provided with a break point 198 that allows the projection 196 to be separated from the bracket 190.

[0027] During surgical procedures, the caregiver wraps the suture 32 around the main body 160. In some embodiments, the suture 32 is pre-loaded around the main body 160 before the surgical procedure. The end 200 of the suture 32, located opposite the end 110 of the suture 32, is secured to one of the suture projections 196. In some embodiments, the suture 32 may be used without the suture projections 196.

[0028] The lower body 164 of the cartridge 150 is detachably positioned on the suture retainer 80. In an exemplary embodiment, the lower body 164 is positioned between projections 84. Each projection 84 extends into one of the notches 182 of the main body 160, securing the cartridge 150 within the device 30. With the cartridge 150 positioned within the device 30, the bracket 190 is slid downward along the main body 160, pushing the suture 32 out of the main body 160 around the suture retainer 80, for example, around the projections 84.

[0029] With the suture 32 positioned around the suture retainer 80, the suture projection 196 that secures the end 200 of the suture 32 is broken at the breaking point 198 and detached from the bracket 190. In some embodiments, the suture projection 196 is broken and detached from the bracket 190 before the suture 32 is slid onto the suture retainer 80. The cartridge 150 is then removed from the device 30, and the device 30 is moved to the closed position shown in Figure 6, with the end 110 of the suture 32 extending through the opening 100. To suture the surgical site, the device is inserted into the patient's surgical site, and the suture 32 is pulled out of the device 30. Once all of the suture 32 has left the device 30, the suture projection 196 is retained in the patient's tissue within the surgical site, and the suture 32 is positioned.

[0030] Referring here to Figure 8, another cartridge 250 for placing sutures 32 within the device 30 includes a body 252. The body 252 has an upper end 254 and a lower end 256. A main body 260 extends from the upper end 254 to a lower body 264 located at the lower end 256. The width 270 of the main body 260 is wider than the width 276 of the lower body 264, and the length 274 of the main body 260 is longer than the length 278 of the lower body 264, so that a ledge 280 is formed between the main body 260 and the lower body 264. The ledge 280 has several notches 282 formed in it and extends into the main body 260. The main body 260 includes several suture projections 296 extending from the upper end 254. Each suture projection 296 has a break point 298 that allows the projection 296 to be separated from the main body 260. In some embodiments, the cartridge 250 may include a sliding bracket similar to the sliding bracket 190.

[0031] During surgical procedures, the caregiver wraps the suture 32 around the main body 260. In some embodiments, the suture 32 is pre-loaded around the main body 260 before the surgical procedure. The end 200 of the suture 32 is secured to one of the suture projections 296. In some embodiments, the suture 32 may be used without the suture projections 296.

[0032] The lower body 264 of the cartridge 250 is detachably positioned on the suture retainer 80. In an exemplary embodiment, the lower body 264 is positioned between projections 84. Each projection 84 extends into one of the notches 282 formed in the main body 160, securing the cartridge 250 within the device 30. With the cartridge 250 positioned within the device 30, the caregiver slides the suture 32 downward along the main body 260, pushing the suture 32 out of the main body 260 around the suture retainer 80, for example, around the projections 84. In some embodiments, a sliding bracket similar to the sliding bracket 190 may be used to move the suture 32 onto the suture retainer 80.

[0033] With the suture 32 positioned around the suture retainer 80, the suture projection 296 that secures the end 200 of the suture 32 is broken at the breaking point 298 and detached from the bracket 290. In some embodiments, the suture projection 296 is broken and detached before the suture 32 is moved onto the suture retainer 80. The cartridge 250 is then removed from the device 30, and the device 30 is moved to the closed position shown in Figure 6, with the end 110 of the suture 32 extending through the opening 100. To suture the surgical site, the device is inserted into the patient's surgical site, and the suture 32 is pulled out of the device 30. Once all of the suture 32 has left the device 30, the suture projection 296 remains in the patient's tissue within the surgical site, and the suture 32 is positioned.

[0034] Referring here to Figure 9, the suturing device 330 is configured to be used with the system 10 by fixing it to one of the multiple fingers 14 of the robot arm 12. The suturing device 330 is configured to be inserted into the surgical site of a patient to facilitate the closure of the surgical site after the surgical procedure. The suturing device 330 also holds a suture that can be pulled out from the suturing device 330 to facilitate the closure of the surgical site. The suture is configured to be pulled out from the suturing device 330 while the suturing device 330 is inserted into the surgical site, such as inside the patient's body. The suture is passed through the tissue to be closed before the suturing device 330 is removed from the surgical site. After the suturing device 330 is removed from the surgical site, the suture is ligated at least in one place to close the surgical site. In at least one embodiment, a caregiver or technician winds the suture inside the suturing device 330 before the surgical procedure. Therefore, the suturing device 330 can accommodate any type of suture used in a medical facility. A caregiver or technician selects the appropriate type of suture for the surgical procedure and winds this appropriate type of suture into the suturing device 330 at the medical facility before the surgical procedure. In another embodiment, the suture may be pre-loaded into the suturing device 330.

[0035] The suturing device 330 includes a foldable body 340 having a first side 342 and a second side 344. The first side 342 and the second side 344 each include a hinge end 346 and a cantilever end 348. A pair of side walls 356 extend between the hinge end 346 and the cantilever end 348 of each of the first side 342 and the second side 344. The first side 342 is connected to the second side 344 by a hinge 350 at the hinge end 346 of both the first side 342 and the second side 344. The hinge 350 connects the foldable body 340 like an articulation, allowing it to move between an open position and a closed position. The cantilever end 348 of the second side 344 of the folding body 340 includes a latch 360, which has an arm 362 and a flange 364 extending outward from the end 366 of the arm 362. The cantilever end 348 of the first side 342 of the folding body 340 is provided with an opening 368. The latch 360 is configured to extend through the opening 368 so that when the folding body 340 is in the closed position, the first side 342 of the folding body 340 is secured to the second side 344 of the folding body 340 by the flange 364.

[0036] The suture retainer 380 is located within the foldable body 340 and is configured to receive sutures. The suture retainer 380 extends from the inner wall 382 of the first side 342 of the foldable body 340. The suture retainer 380 includes a plurality of projections 384 extending from the inner wall 382. In exemplary embodiments, the plurality of projections 384 are arranged in two rows 386 between the hinge end 346 and the cantilever end 348 of the first side 342 of the foldable body 340. In some embodiments, a caregiver or technician in a medical facility winds sutures onto the suture retainer 380. In other embodiments, the suture retainer 380 is pre-loaded with sutures.

[0037] An opening 400 is formed in the cantilever end 348 of the second side 344 of the foldable body 340. In an exemplary embodiment, the opening 400 is formed in the corner 402 of the cantilever end 348 of the second side 344 of the foldable body 340. In another embodiment, the opening 400 may be in the middle of the cantilever end 348 of the second side 344 of the foldable body 340. In yet another embodiment, the opening 400 may be formed in the side wall 356 of the second side 344. In some embodiments, it may also be conceivable to form the opening 400 in the side wall 356 of the first side 342. When the suture is wound onto the suture retainer 380, the needle end of the suture extends from the suturing device 330.

[0038] The first side hole 420 extends through the first side 342 of the folding body 340. The suture retainer 380 is located around the first side hole 420. That is, a plurality of projections 384 extend around the first side hole 420. The first side hole 420 includes a plurality of notches 422. Each projection 384 is positioned between an adjacent pair of notches 422. The second side hole 430 extends through the second side 344 of the folding body 340. When the folding body 340 is in the closed position, the first side hole 420 is aligned with the second side hole 430.

[0039] Referring now to Figure 10, notches 440 are formed adjacent to the hinge ends 346 of the first side 342 and the second side 344 of the suturing device 330. In particular, a first pair of notches 442 are formed adjacent to the hinge end 346 of the first side 342, and a second pair of notches 444 are formed adjacent to the hinge end 346 of the second side 344. In the closed position, the first pair of notches 442 are located opposite the second pair of notches 444. The fingers 14 of the robot arm 12 are configured to grasp the suturing device 330 at the notches 440 so that the suturing device 330 is fixed to the system 10 during the surgical procedure.

[0040] Referring to Figure 11, the cartridge 500 is configured to be removably inserted through the first side hole 420. The suture is configured to be wound around the cartridge 500 to help position the suture around the suture retainer 380. The cartridge 500 includes a lower body 502 with a plurality of notches 504 formed on both sides of the cartridge 500. When the cartridge 500 is inserted through the first side hole 420, the plurality of projections 384 are configured to each fit into one of the plurality of notches 504, as shown in Figure 12. When the cartridge 500 is inserted through the first side hole 420 and the folding body 340 moves to the closed position, at least a portion of the cartridge 500 is configured to extend through the second side hole 430, as shown in Figure 13. The cartridge 500 also includes an upper part 506 with an inclined end 508 that allows at least a portion of the cartridge 500 to move through the second side hole 430 when the foldable body 340 is moved to the closed position. The base 510 of the cartridge 500 is larger than the lower body 502 so that the entire cartridge 500 does not pass through the first side hole 420.

[0041] Referring here to Figure 14, a method 600 for preparing a suturing device 330 including a foldable body 340 includes, in block 602, moving the foldable body 340 to an open position by rotating the first side 342 of the foldable body 340 away from the second side 344 of the foldable body 340. In block 604, a cartridge 500 is detachably inserted through a first side hole 420 formed in the first side 342 of the foldable body 340. Once inserted through the first side hole 420, the cartridge 500 extends through the suture retainer 380. That is, when the cartridge 500 is inserted through the first side hole 420, the cartridge 500 is inserted between a plurality of projections 384. When the cartridge 500 is inserted through the first side hole 420, each of the plurality of projections 384 fits into one of the plurality of notches 504. In block 606, the suture is wound onto cartridge 500 to help position the suture around the suture retainer 380 located inside the foldable body 340. In block 608, the end of the suture is passed through an opening 400 formed in the wall of the foldable body 340 and extended.

[0042] In block 610, the first side 342 of the folding body 340 is rotated toward the second side 344 of the folding body 340 to move the folding body 340 to the closed position. When the cartridge 500 is inserted through the first side hole 420 and the folding body 340 is moved to the closed position, at least a portion of the cartridge 500 extends through the second side hole 430, which extends through the second side 344 of the folding body 340. When the folding body 340 is moved to the closed position, at least a portion of the cartridge 500 is guided through the second side hole 430 by the inclined end 508 of the cartridge 500. When the cartridge 500 is inserted through the first side hole 420, the folding body 340 moves to the closed position to help position the sutures around the suture retainer 380. In other words, when the folding body 340 is moved to the closed position, the second side 344 of the folding body 340 pushes the suture down below the cartridge 500 and onto the suture retainer. When the folding body 340 is in the closed position, the end of the suture extends through the opening 400 so that the suture can be made contact within the patient's surgical site.

[0043] In block 612, the cartridge 500 is inserted through the first side hole 420, the folding body 340 is moved to the closed position, and then the cartridge 500 is removed from the folding body 340 through the first side hole 420. Note that the sutures may be placed on the suture retainer 380 during or before the medical procedure on the patient. Method 600 may also include connecting the folding body 340 to the surgical robot arm 12 after the sutures have been installed in the suturing device 330 in block 614.

[0044] Any theories, mechanisms of operation, demonstrations, or findings described herein are intended to enhance the understanding of the principles of this disclosure, and this disclosure is not intended to be dependent on such theories, mechanisms of operation, exemplary embodiments, demonstrations, or findings. Where the terms preferred, preferably, or preferred are used in the above description, it is indicated that the features described in that way may be more desirable, but not essential, and embodiments lacking the same features may also be considered within the scope of this disclosure, as defined by the claims below.

[0045] When reading patent claims, expressions such as "a," "an," "at least one," and "at least a part" are used, and unless the claim explicitly states otherwise, there is no intention to limit the claim to only one item. When the phrases "at least a part" and "at least one of a part" are used, the item may include at least one of a part and at least one of the whole item, unless the claim explicitly states otherwise.

[0046] Only selected embodiments are illustrated and described, and it should be understood that protection is desired for all conceivable alternatives, modifications, aspects, combinations, principles, variations, and equivalents as defined herein or that fall within the scope of the intent of this disclosure by any of the following claims. Although embodiments of this disclosure are shown in detail in the drawings and described above, they should be considered illustrative and not intended to be exhaustive, nor to limit this disclosure to the exact forms disclosed. Other alternatives, modifications, and variations will be apparent to those skilled in the art. Furthermore, although multiple aspects and principles of the invention are proposed, it is not necessary to use them in combination, and many combinations of aspects and principles are possible in light of the various embodiments proposed above.

Claims

1. A foldable body configured to be inserted into the surgical site of a patient, the foldable body configured to move between an open position and a closed position, A suture retainer is placed inside the aforementioned foldable body and configured to receive sutures, An opening formed in the wall of the aforementioned foldable body, The folding body comprises a cartridge configured to be positioned adjacent to the suture retainer, the folding body having a first side connected to a second side by a hinge at a hinge end, and the first side and the second side each having a cantilever end opposite to the hinge end. A suturing device wherein the end of the suture extends through the opening when the foldable body is in the closed position so that the suture can be contacted within the surgical site of the patient, and the suture is configured to be wound around the cartridge to help position the suture around the suture retainer.

2. The suturing device according to claim 1, wherein the suture retainer extends from the inner wall of the first side surface of the foldable body.

3. The suturing device according to claim 1, wherein the suture retainer includes a plurality of protrusions, and the suture is configured to be wound around the plurality of protrusions.

4. The suture device according to claim 3, wherein the plurality of protrusions are arranged in two rows extending between the hinge end and the cantilever end.

5. The suturing device according to claim 1, further comprising a first side hole extending through the first side of the foldable body, wherein the cartridge is configured to be detachably inserted through the first side hole.

6. The suturing device according to claim 5, wherein the suture retainer extends from the inner wall of the first side surface of the foldable body and is positioned adjacent to the first side hole.

7. The suturing device according to claim 5, wherein the suture retainer includes a plurality of projections arranged around the first side hole, and the suture is configured to be wound around the plurality of projections.

8. The suturing device according to claim 7, wherein the cartridge includes a plurality of notches, and when the cartridge is inserted through the first side hole, the plurality of projections are configured to each fit into one of the plurality of notches.

9. The suturing device according to claim 5, further comprising a second side hole extending through the second side of the foldable body, wherein at least a portion of the cartridge extends through the second side hole when the cartridge is inserted through the first side hole and the foldable body is moved to the closed position.

10. The suturing device according to claim 9, wherein when the cartridge is inserted through the first side hole, the folding body is moved to the closed position to help position the suture around the suture retainer.

11. The suturing device according to claim 10, wherein the cartridge is removable from the foldable body through the first side hole when the cartridge is inserted through the first side hole and the foldable body moves to the closed position.

12. The cartridge, when the folding body moves to the closed position, At least a portion of the cartridge can move through the second side hole. A suturing device according to claim 9, including an inclined end for shaping.

13. The sutures are used during and before the medical procedure on the patient. At least one of them is configured to be positioned on the suture retainer, The suturing device described in item 1.

14. At least one of the first side and the second side of the folding body The surgical robotic arm further includes at least one notch formed on the front The notch is configured to connect to the folding body. The suturing device according to claim 1.

15. A first notch formed at the hinge end of the first side surface of the folding body. and, A second notch formed at the hinge end of the second side surface of the folding body. The suturing device according to claim 14, further comprising the following:

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