Apparatus and method for minimally invasive suturing

Abstract

An apparatus and method for minimally invasive suturing is disclosed. A suturing device for minimally invasive suturing includes proximal section having a proximal end, a distal end, and a longitudinal axis therebetween; a suture head assembly extending from the distal end of the proximal section; a suturing needle having a pointed end and a blunt end, the suturing needle capable of rotating about an axis approximately perpendicular to a longitudinal axis of the proximal section, wherein the pointed end of the suturing needle is positioned within the suture head assembly prior to and after rotation of the suturing needle; and an actuator extending from the proximal end of the proximal section to actuate a drive mechanism having a needle driver for engaging and rotating the suturing needle.

1 - 20 . (canceled) 
     
     
         21 . A suturing device comprising:
 an arced needle having a leading end, a second end, and a length of suture;   a housing defining a circular needle track therein that receives the needle and defines a circular path for the needle to traverse;   a displaceable needle track cover configured to at least partially cover said arced needle when said arced needle is disposed in said circular needle track;   a needle driver operable to rotate the needle along the circular path; and   a needle position detection circuit, wherein the needle position detection circuit is configured and arranged to indicate when a portion of the needle is positioned at a predetermined location along the circular path, and further wherein at least a portion of the needle track position detection circuit passes through at least a portion of said displaceable needle track cover.   
     
     
         22 . The suturing device of  claim 21 , wherein the suturing device further comprises an electrical power supply, wherein the needle position detection circuit is configured to be operably coupled to the electrical power supply. 
     
     
         23 . The suturing device of  claim 21 , wherein the needle closes an electrical circuit when the needle is present at the predetermined location. 
     
     
         24 . The suturing device of  claim 23 , wherein electrical current flows through or along a portion of the needle in order to close the electrical circuit. 
     
     
         25 . The suturing device of  claim 23 , wherein the needle actuates a mechanical switch that closes the electrical circuit. 
     
     
         26 . The suturing device of  claim 21 , wherein the needle opens an electrical circuit when it is present at the predetermined location in order for the position of the needle to be detected. 
     
     
         27 . The suturing device of  claim 26 , wherein the needle actuates a mechanical switch that opens the electrical circuit. 
     
     
         28 . The suturing device of  claim 21 , wherein the needle position detection circuit is configured to be electrically coupled to an anti-rotate spring of the suturing device. 
     
     
         29 . The suturing device of  claim 21 , wherein the needle position detection circuit is configured to be electrically coupled to a drive pawl of the suturing device. 
     
     
         30 . The suturing device of  claim 21 , wherein the needle position detection circuit is configured to be electrically coupled to the circular needle track. 
     
     
         31 . The suturing device of  claim 21 , wherein the needle position detection circuit is configured to activate an indicator when the needle is positioned at the predetermined location. 
     
     
         32 . The suturing device of  claim 31 , wherein the indicator includes at least one light emitting diode. 
     
     
         33 . The suturing device of  claim 32 , wherein the at least one light emitting diode is located in a handle of the suturing device. 
     
     
         34 . The suturing device of  claim 32 , wherein the indicator includes a plurality of light emitting diodes. 
     
     
         35 . The suturing device of  claim 34 , wherein the plurality of light emitting diodes is arranged in an arc shape and are spaced to indicate a location of the needle in the suturing device. 
     
     
         36 . A robotic surgical system including a robotic manipulator operably coupled to a computer, the robotic manipulator including a suturing device according to  claim 21  operably coupled thereto. 
     
     
         37 . The robotic surgical system of  claim 36 , wherein needle position detection data detected by the needle position detection circuit is transmitted to the computer, wherein the computer is configured to determine a position of the needle based on the needle position detection data. 
     
     
         38 . The robotic surgical system of  claim 37 , wherein the robotic surgical system is configured to display a rendering of a position of the needle within the suturing device on a display of the robotic surgical system in real time. 
     
     
         39 . The suturing device of  claim 22 , wherein the electrical power supply includes a battery. 
     
     
         40 . The suturing device of  claim 39 , wherein the battery is housed in a removable sterile module that includes at least one light emitting diode and at least one wireless transmitter for transmitting data indicative of a position of the needle.