Devices and methods for minimally invasive suturing

A method of performing a suturing operation, comprising:

• providing a suturing device including:
• an arced needle having a leading end, a trailing end, a length of suture, the arced needle having at least one drive surface formed into its surface, the arced needle being disposed within a suturing head located at a distal end of the suturing device;
• an arced needle track defined in the suturing head for receiving the arced needle, the arced needle track defining a circular path;
• a needle driver configured to drive the arced needle along the circular path in a first rotational direction, the needle driver including a drive pawl that is configured to engage the drive surface formed into the arced needle and advance the arced needle along the needle track in the first rotational direction during a drive stroke from a starting position to a driven position, wherein the needle driver drives the arced needle about 180 degrees along the needle track during the drive stroke;
• and
• performing a drive stroke by actuating the needle driver to drive the arced needle along the needle track and through at least one tissue segment;
• performing a return stroke to permit the needle driver to return from the driven position to the starting position, wherein the needle driver moves backward with respect to the arced needle along a second rotational direction opposite to the first rotational direction during the return stroke;
• and
• resisting backward movement of the arced needle along the second rotational direction during the return stroke by engaging the arced needle in at least two discrete physical locations that are spaced apart from one another along the circular path defined by the needle track by interfering with the needle's movement at both of said at least two discrete physical locations.