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Laparoscopic suture device with asynchronous in-line needle movement

  • US 9,168,037 B2
  • Filed: 06/09/2011
  • Issued: 10/27/2015
  • Est. Priority Date: 06/17/2010
  • Status: Active Grant
First Claim
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1. An apparatus, comprising:

  • (a) a shaft, wherein the shaft defines a longitudinal axis; and

    (b) an end effector, wherein the end effector comprises;

    (i) a needle throwing arm, wherein the needle throwing arm is operable to selectively engage a surgical needle, wherein the needle throwing arm is movable along a plane that is substantially parallel to the longitudinal axis of the shaft,(ii) a needle receiving arm, wherein the needle receiving arm is operable to selectively engage a surgical needle transferred from the needle throwing arm, wherein the needle receiving arm is movable along a plane that is substantially parallel to the longitudinal axis of the shaft,(iii) a first axle, wherein the needle throwing arm is pivotable about the first axle, and(iv) a second axle, wherein the needle receiving arm is pivotable about the second axle,wherein the first axle is separate from the second axle such that a gap is defined between the first axle and the second axle,wherein the end effector is operable to move the needle throwing arm and the needle receiving arm in an asynchronous fashion to repeatedly pass a surgical needle from the needle throwing arm to the needle receiving arm and back to the needle throwing arm along a circular path, wherein the circular path defines a plane that is substantially parallel to the longitudinal axis of the shaft such that the end effector is operable to move the surgical needle through at least one full revolution along the circular path.

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