# US 12,594,067 B2 · Rotary stitching device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,594,067 B2 - Document ID: US12594067B2 - Status: Granted - Kind: B2 - Application number: 18/149,314 - Filed: 2023-01-03 - Published: 2023-07-06 - Granted: 2026-04-07 - Earliest claimed: 2022-01-05 - Assignees: Covidien LP - Applicants: Covidien LP - Inventors: Jacob C. Baril - Web page: https://patentgrep.com/patent/US12594067B2 ## CPC - A61B 17/0469: {Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery} - A61B 17/0491: {Sewing machines for surgery} - 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 2017/00367: {Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A stitching device includes an end effector having first and second jaw members and first and second pins, a stationary cam, and a rotary cam. The first pin is supported on the first jaw member and the second pin is supported on the second jaw member. The stationary cam defines a first cam slot, and the rotary cam defines a second cam slot. The first and second cam slots receive the first and second pins and are configured to releasably secure one of the first or second jaw members to the rotary cam such that the first and second jaw members rotate about the stationary cam in alternating fashion. During each revolution of the rotary cam, the one of the first or second jaw members rotates with the rotary cam a substantially full revolution while the other of the first or second jaw members remains stationary. ## Claims ### Claim 1 A suturing device comprising: a handle assembly; an elongate body assembly coupled to the handle assembly and defining a longitudinal axis, the elongate body assembly including a stationary cam and a rotary cam, the stationary cam defining a first cam slot and the rotary cam defining a second cam slot, the rotary cam including a stepped distal portion defining an annular shoulder between a distal step and an intermediate step positioned proximally of the distal step, the second cam slot being formed on the intermediate step, the rotary cam being rotatable in relation to the stationary cam; and an end effector including a first jaw member and a second jaw member, the first and second jaw members including a distal portion and a proximal portion, the proximal portion of each of the first and second jaw members defining a proximally facing shoulder, the proximally facing shoulders of the first and second jaw members being engaged with the annular shoulder of the rotary cam, the first jaw member supporting a first pin and the second jaw member supporting a second pin, the first and second pins received within the first and second cam slots, wherein the first and second cam slots are configured to releasably secure one of the first or second jaw members to the rotary cam such that the first and second jaw members rotate about the stationary cam in alternating fashion, wherein during each revolution of the rotary cam, the one of the first or second jaw members rotates with the rotary cam for a substantially full revolution while the other of the first or second jaw members remains stationary. ### Claim 2 (depends on 1) The suturing device of claim 1, wherein the stationary cam has a tubular configuration and defines a longitudinally extending bore, and the rotary cam has a cylindrical configuration and is rotatably received within the longitudinally extending bore of the stationary cam. ### Claim 3 (depends on 2) The suturing device of claim 2, wherein the stationary cam has an inner surface that defines the first cam slot, and the rotary cam has an outer surface that defines the second cam slot. ### Claim 4 (depends on 3) The suturing device of claim 3, further including an outer tube positioned about the stationary cam. ### Claim 5 (depends on 4) The suturing device of claim 4, wherein the proximal portions of the first and second jaw members being rotatably supported about the rotary cam. ### Claim 6 (depends on 5) The suturing device of claim 5, the proximal portion of each of the first and second jaw members being rotatably supported about the distal step. ### Claim 7 (depends on 4) The suturing device of claim 4, further including a jaw collar secured within the outer tube, the jaw collar engaging the proximal portion of the first and second jaw members to retain the proximal portion of the first and second jaw members within the outer tube. ### Claim 8 (depends on 1) The suturing device of claim 1, further including a suture needle, wherein each of the first and second jaw members defines a transverse bore, the suture needle being movable between the transverse bores of the first and second jaw members. ### Claim 9 (depends on 8) The suturing device of claim 8, further including first and second blades, wherein each of the first and second jaw members defines a longitudinally extending channel, the first blade received within the longitudinally extending channel of the first jaw member and the second blade received within the longitudinally extending channel of the second jaw member, the first and second blades movable within the longitudinally extending channels between retracted and advanced positions to secure the suture needle to a respective one of the first and second jaw members. ### Claim 10 (depends on 9) The suturing device of claim 9, wherein the first pin is secured to the first blade and the second pin is secured to the second blade, and the first and second cam slots are configured to move the first and second blades between their respective retracted and advanced positions. ### Claim 11 (depends on 10) The suturing device of claim 10, wherein the suture needle includes an angled cam surface and each of the first and second blades includes an angled distal end that is positioned to engage the angled cam surface of the suture needle when the first or second blade moves from the retracted position to the advanced position to translate the suture needle within the transverse bore of the first or second jaw member. ### Claim 12 (depends on 11) The suturing device of claim 11, wherein each of the first and second jaw members defines a longitudinal slot that receives one of the first and second pins. ### Claim 13 (depends on 8) The suturing device of claim 8, further including a suture attached to one end of the suture needle. ### Claim 14 A suturing device comprising: an elongate body assembly defining a longitudinal axis and including a stationary cam and a rotary cam, the stationary cam defining a first cam slot and the rotary cam defining a second cam slot, the rotary cam including a stepped distal portion defining an annular shoulder between a distal step and an intermediate step positioned proximally of the distal step, the second cam slot being formed on the intermediate step, the rotary cam being rotatable in relation to the stationary cam; an end effector including a first jaw member and a second jaw member, the first and second jaw members including a distal portion and a proximal portion, the proximal portion of each of the first and second jaw members being rotatably supported about the distal step of the rotary cam and defining a proximally facing shoulder, the proximally facing shoulders of the first and second jaw members being engaged with the annular shoulder of the rotary cam, the first jaw member supporting a first pin and the second jaw member supporting a second pin, the first and second pins received within the first and second cam slots, wherein the first and second cam slots are configured to releasably secure one of the first or second jaw members to the rotary cam such that the first and second jaw members rotate about the stationary cam in alternating fashion, wherein during each revolution of the rotary cam, the one of the first or second jaw members rotates with the rotary cam for a substantially full revolution while the other of the first or second jaw members remains stationary; and a suture needle movable between the first and second jaw members and securable to and movable with the one of the first or second jaw members. ### Claim 15 (depends on 14) The suturing device of claim 14, wherein the stationary cam has a tubular configuration and an inner surface that defines a longitudinally extending bore, and the rotary cam has a cylindrical configuration and an outer surface, the rotary cam being rotatably received within the longitudinally extending bore of the stationary cam, the first cam slot formed in the inner surface of the stationary cam and the second cam slot formed in the outer surface of the rotary cam. ### Claim 16 (depends on 14) The suturing device of claim 14, further including first and second blades, wherein each of the first and second jaw members defines a longitudinally extending channel, the first blade received within the longitudinally extending channel of the first jaw member and the second blade received within the longitudinally extending channel of the second jaw member, the first and second blades movable within the longitudinally extending channels between retracted and advanced positions to secure the suture needle to a respective one of the first and second jaw members. ### Claim 17 (depends on 16) The suturing device of claim 16, wherein the first pin is secured to the first blade and the second pin is secured to the second blade, and the first and second cam slots are configured to move the first and second blades between their respective retracted and advanced positions. ### Claim 18 (depends on 14) The suturing device of claim 14, further including a suture attached to one end of the suture needle. ### Claim 19 A suturing device comprising: an elongate body assembly defining a longitudinal axis and including a stationary cam and a rotary cam, the stationary cam defining a first cam slot and the rotary cam defining a second cam slot, the rotary cam including a stepped distal portion defining an annular shoulder between a distal step and an intermediate step positioned proximally of the distal step, the second cam slot being formed on the intermediate step, the rotary cam being rotatable in relation to the stationary cam; an end effector including a first jaw member and a second jaw member, the first and second jaw members including a distal portion and a proximal portion, the proximal portion of each of the first and second jaw members defining a proximally facing shoulder, the proximally facing shoulders of the first and second jaw members being engaged with the annular shoulder of the rotary cam, the first jaw member supporting a first pin and the second jaw member supporting a second pin, the first and second pins received within the first and second cam slots, wherein the first and second cam slots are configured to releasably secure one of the first or second jaw members to the rotary cam such that the first and second jaw members rotate about the stationary cam in alternating fashion, wherein during each revolution of the rotary cam, the one of the first or second jaw members rotates with the rotary cam for a substantially full revolution while the other of the first or second jaw members remains stationary; a suture needle movable between the first and second jaw members and securable to and movable with the one of the first or second jaw members; and first and second blades; wherein each of the first and second jaw members defines a longitudinally extending channel, the first blade received within the longitudinally extending channel of the first jaw member and the second blade received within the longitudinally extending channel of the second jaw member, the first and second blades movable between retracted and advanced positions to secure the suture needle to a respective one of the first and second jaw members. ### Claim 20 (depends on 19) The suturing device of claim 19, wherein each of the first and second jaw members defines a longitudinal slot that receives one of the first and second pins.