Apparatus and method for minimally invasive suturing

A suturing device comprising a proximal end, an intermediate region and a distal end including:

• a) a suturing head disposed proximate the distal end of the device containing a suturing needle disposed therein, the suturing needle having a curved body, the curved body covering an arc greater than about 180°;
• wherein the suturing needle is disposed in and adapted and configured to be advanced along a curved needle track about an axis of rotation substantially perpendicular to a longitudinal axis defined by the suturing device, wherein the area within the circular arc of the needle is unobstructed;
• and
• b) a reciprocating needle advancement drive spanning from the suturing head to the proximal end of the device and past the intermediate region of the device, the advancement drive including a plurality of opposed drive cables routed about a plurality of pulleys, wherein:
• i) tension applied to a first cable causes the needle advancement mechanism to advance the needle along the needle track;
• ii) tension applied to a second cable opposed to the first cable causes the needle advancement mechanism to disengage from the needle and return to a start position and re-engage the needle;
• iii) the drive mechanism is wholly disposed at a location outside an inner radius of the body of the needle such that the area within the circular arc of the needle is unobstructed during operation of the device and
• iv) the advancement drive includes a spring biased engagement pawl for engaging a notch disposed on a top surface of the needle, wherein the pawl slides along the top surface of the needle when it disengages from the needle and reciprocates towards a start position along the needle track.

A suturing device comprising a proximal end, an intermediate region and a distal end including:

• a) a suturing needle;
• a suturing head disposed proximate the distal end of the device adapted and configured to support the suturing needle disposed therein, the suturing needle having a curved body, the curved body covering an arc greater than about 180°;
• wherein the suturing needle is disposed in and adapted and configured to be advanced along a curved needle track about an axis of rotation substantially perpendicular to a longitudinal axis defined by the suturing device, wherein the area within the circular arc of the needle is unobstructed;
• and
• b) a reciprocating needle advancement drive spanning from the suturing head to the proximal end of the device and past the intermediate region of the device, the advancement drive including a plurality of opposed drive cables routed about a plurality of pulleys, wherein tension applied to a first cable causes the needle advancement mechanism to advance the needle along the needle track, tension applied to a second cable opposed to the first cable causes the needle advancement mechanism to disengage from the needle and return to a start position and re-engage the needle, and the drive mechanism is wholly disposed at a location outside an inner radius of the body of the needle such that the area within the circular arc of the needle is unobstructed during operation of the device and wherein the drive:
• i) engages a first portion of the needle in a first location in the suturing head at the beginning of a first drive stroke;
• ii) moves the first portion of the needle along the needle track to a second location in the suturing head;
• iii)disengages the first portion of the needle at the second location;
• and
• iv)returns to the first location.