# US 10,111,654 B2 · Apparatus and method for minimally invasive suturing > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,111,654 B2 - Document ID: US10111654B2 - Status: Granted - Kind: B2 - Application number: 15/885,509 - Filed: 2018-01-31 - Published: 2018-06-14 - Granted: 2018-10-30 - Earliest claimed: 2004-09-20 - Assignees: EndoEvolution, LLC - Applicants: Endoevolution, LLC - Inventors: John C. Meade; Jerry R. Griffiths; Francis J. DiFrancesco; Richard Clark - Web page: https://patentgrep.com/patent/US10111654B2 ## CPC - A61B 17/0469: {Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery} - A61B 17/0482: {Needle or suture guides (guides for drills, pins or wire A61B17/17; guides for puncturing needles A61B17/3403)} - A61B 17/0491: {Sewing machines for surgery} - A61B 17/06066: {Needles, e.g. needle tip configurations} - A61B 17/0625: {the needle being specially adapted to interact with the manipulator, e.g. being ridged to snap fit in a hole of the manipulator (A61B17/06109 takes precedence)} - A61B 17/29: Forceps for use in minimally invasive surgery - A61B 17/34: Trocars; Puncturing needles - A61B 34/30: Surgical robots - A61B 34/71: {Manipulators operated by drive cable mechanisms} - A61B 2017/0023: {disposable} - A61B 2017/00398: {using powered actuators, e.g. stepper motors, solenoids} - A61B 2017/00407: {Ratchet means} - A61B 2017/00473: {Distal part, e.g. tip or head (A61B2017/00464 takes precedence)} - A61B 2017/047: {having at least one proximally pointing needle located at the distal end of the instrument, e.g. for suturing trocar puncture wounds starting from inside the body} - A61B 2017/0474: {Knot pushers} - A61B 2017/06028: {by means of a cylindrical longitudinal blind bore machined at the suture-receiving end of the needle, e.g. opposite to needle tip} - A61B 2017/0608: {J-shaped} - A61B 2017/06085: {having a blunt tip} - A61B 2017/2923: {Toothed members, e.g. rack and pinion} - A61B 2017/2927: {the angular position of the head being adjustable with respect to the shaft} - A61B 2017/2943: {Toothed members, e.g. rack and pinion} - A61B 2217/007: with irrigation system - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## 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 reciprocating needle drive having a needle driver for engaging and rotating the suturing needle. ## Claims ### Claim 1 A surgical suturing device having a proximal end and a distal end comprising: a) an arced suturing needle having a pointed leading end and a trailing end; b) a suturing head disposed proximate the distal end of the device, the suturing head being configured to support the arced suturing needle therein, the arced suturing needle having a curved body, the curved body covering an arc greater than about 180°, wherein the arced suturing needle is disposed in and adapted and configured to be advanced along an arcuate path about an axis of rotation substantially perpendicular to a longitudinal axis defined by the suturing device; c) a reciprocating needle drive configured to advance the arced suturing needle along a first direction led by the leading end of the needle, wherein the needle drive includes a reciprocating drive wheel pivotally coupled at an outer radial region of the drive wheel to a proximal end of a first elongate arm, the first elongate arm having a distal end with a drive pawl attached thereto for engaging the arced suturing needle, the drive wheel and first elongate arm cooperating to drive the arced suturing needle about the axis of rotation in response to actuation of the reciprocating needle drive, wherein the distal end of the first elongate arm is movable along a path that is transverse to the longitudinal axis to direct the arced suturing needle about the axis of rotation, the reciprocating needle drive also including a second elongate arm configured and arrange to limit the range of rotational motion of the reciprocating drive wheel. ### Claim 2 (depends on 1) The surgical suturing device of claim 1, further comprising a removable cartridge disposed in the suturing head, the removable cartridge including a cartridge housing, wherein a needle track is formed into the removable cartridge. ### Claim 3 (depends on 2) The surgical suturing device of claim 2, wherein the suturing head includes a coupling for releasably holding the removable cartridge. ### Claim 4 (depends on 2) The surgical suturing device of claim 2, wherein the removable cartridge is disposed at a distal end of the suturing head. ### Claim 5 (depends on 2) The surgical suturing device of claim 2, wherein at least one of the first elongate arm and second elongate arm abuts a stop defined in the wheel to limit the range of rotational motion of the reciprocating drive wheel. ### Claim 6 (depends on 2) The surgical suturing device of claim 2, wherein at least one end of the second elongate arm is disposed in a slot defined in the reciprocating drive wheel that slides with respect to the second elongate arm when the reciprocating needle drive is actuated. ### Claim 7 (depends on 2) The surgical suturing device of claim 2, wherein at least one end of the second elongate arm rides in a slot that slides with respect to the second elongate arm when the reciprocating needle drive is actuated. ### Claim 8 (depends on 2) The surgical suturing device of claim 2, wherein both ends of the second elongate arm ride in slots that slides with respect to the second elongate arm when the reciprocating needle drive is actuated. ### Claim 9 (depends on 1) The surgical suturing device of claim 1, wherein the reciprocating needle drive is motorized. ### Claim 10 (depends on 1) The surgical suturing device of claim 1, wherein at least a portion of the suturing head is modular and replaceable. ### Claim 11 (depends on 1) The surgical suturing device of claim 1, wherein the drive pawl includes a spring. ### Claim 12 (depends on 1) The surgical suturing device of claim 1, wherein the suturing head is configured to be introduced through a cannula. ### Claim 13 A surgical suturing device having a proximal end and a distal end comprising: a) an arced suturing needle having a pointed leading end and a trailing end; b) a suturing head disposed proximate the distal end of the device, the suturing head being configured to support the arced suturing needle therein, the arced suturing needle having a curved body, the curved body covering an arc greater than about 180°, wherein the arced suturing needle is disposed in and adapted and configured to be advanced along an arcuate path about an axis of rotation substantially perpendicular to a longitudinal axis defined by the suturing device; c) a reciprocating needle drive configured to advance the arced suturing needle along a first direction led by the leading end of the needle, wherein the reciprocating needle drive includes a first elongate reciprocating drive arm, the first elongate reciprocating drive arm having a distal end with a drive pawl attached thereto for engaging the arced suturing needle, the first elongate reciprocating drive arm being arranged to drive the arced suturing needle about the axis of rotation in response to actuation of the reciprocating needle drive, wherein the distal end of the first elongate reciprocating drive arm is movable along a path that is transverse to the longitudinal axis to direct the arced suturing needle about the axis of rotation, the reciprocating needle drive also including a second elongate arm configured and arranged to limit the range of motion of the reciprocating needle drive. ### Claim 14 (depends on 13) The surgical suturing device of claim 13, further comprising a removable cartridge disposed in the suturing head, the removable cartridge including a cartridge housing, wherein a needle track is formed into the removable cartridge. ### Claim 15 (depends on 14) The surgical suturing device of claim 14, wherein the suturing head includes a coupling for releasably holding the removable cartridge. ### Claim 16 (depends on 14) The surgical suturing device of claim 14, wherein the removable cartridge is disposed at a distal end of the suturing head. ### Claim 17 (depends on 13) The surgical suturing device of claim 13, wherein the reciprocating needle drive is motorized. ### Claim 18 (depends on 13) The surgical suturing device of claim 13, wherein at least a portion of the suturing head is modular and replaceable. ### Claim 19 (depends on 13) The surgical suturing device of claim 13, wherein the drive pawl includes a spring. ### Claim 20 (depends on 13) The surgical suturing device of claim 13, wherein the suturing head is configured to be introduced through a cannula.