Abstract: A method is used for fabricating a surgical needle for use in with a circular needle applier having a needle driver. A wire body is straightened and cut to an initial length, the wire body having a first end and a second end. A point is ground on the first end of the wire body. The wire body is plastically deformed to form two recessed features adapted to be engaged by a needle driver. The wire body is cut to a final length with a trailing end. A hole is drilled in the trailing end to create a barrel. The wire body is bent along a circular arc while keeping straight a trailing portion with the barrel. A length of suture is attached in the barrel. The trailing portion is bent along the circular arc.

Abstract: A surgical needle is adapted for use with a circular needle applier having a needle driver. The surgical needle comprises an elongate body curved along a circular arc in a plane. The elongate body has a leading end, a trailing end, a longitudinal axis between the leading and trailing ends, a cross-sectional circumference, an upper face, a lower face, a medial face, and a lateral face. A pair of recessed features on the body are adapted to be engaged by a needle driver. A pair of protuberances are adjacent each recessed feature. The protuberances are longitudinally coincident with the respective recessed feature and circumferentially offset from the respective recessed feature. The protuberances project outwardly from the body.

Abstract: A surgical suturing system comprises a shaft having a proximal end, a distal end, a longitudinal axis between the proximal and distal ends, and receiver on the distal end with a rotary drive. A cartridge is selectively attachable to and detachable from the receiver. The cartridge has a surgical needle, a length of suture connected to the needle, a needle driver operative to engage and move the needle relative the cartridge, a transmission operatively connected to the needle driver, and a torsional interface rotationally coupling the rotary drive to the transmission.

Abstract: A surgical suturing system comprises a shaft having a proximal end, a distal end, a longitudinal axis between the proximal and distal ends, and receiver on the distal end with a rotary drive. A cartridge is selectively attachable to and detachable from the receiver. The cartridge has a surgical needle, a length of suture connected to the needle, a needle driver operative to engage and move the needle relative the cartridge, a transmission operatively connected to the needle driver, and a torsional interface rotationally coupling the rotary drive to the transmission.

Abstract: A surgical suturing device comprises an arced needle track, an arced needle positioned in the needle track, and a length of suture connected to the needle. A reciprocating needle driver is operative to engage and move the needle in the needle track. A rotary input rotates about an axis. A link has a proximal end connected to the rotary input and a distal end connected to the needle driver. Rotation of the rotary input in a first angular direction translates the needle driver in a second angular direction opposite of the first angular direction.

Abstract: A surgical suturing device comprises a cartridge having a needle and suture. An elongate shaft has a proximal end and a distal end. An actuator is connected to the proximal end of the elongate shaft. A pair of jaws is connected to the distal end of the elongate shaft. The jaws have a closed position adapted to receive and retain the cartridge, and wherein the jaws are latched in the closed position. The jaws also have a partially opened position adapted to release the cartridge wherein the jaws are biased by a spring from the first opened position towards the closed position. The jaws also have and a fully opened position spaced apart further than the partially opened position, wherein spring does not bias the jaws towards the closed position.

Abstract: An apparatus comprises a body assembly, a shaft, an end effector, a rotation input feature, and a locking feature. The shaft extends distally from the body assembly and defines a longitudinal axis. The end effector is positioned at the distal end of the shaft. The rotation input feature comprises a proximal end and a distal end. The rotation input feature is configured to rotate one or both of the shaft assembly or the end effector about the longitudinal axis. The locking feature is configured to transition between a locked state and an unlocked state. The locking feature is configured to prevent rotation of the one or both of the shaft assembly when the locking feature is in the locked state. The locking feature is configured to permit rotation of the one or both of the shaft assembly when the locking feature is in the unlocked state.

Abstract: An apparatus comprises a body assembly, a shaft, an acoustic waveguide, an articulation section, an end effector, an articulation drive assembly, and a locking feature. The shaft extends distally from the body assembly. The waveguide comprises a flexible portion. The articulation drive assembly is operable to drive articulation of the articulation section to thereby deflect the end effector from the longitudinal axis of the shaft. The articulation drive assembly comprises an actuator. The actuator is movable relative to the body assembly to drive articulation of the articulation section. The locking feature is in communication with the actuator. The locking feature is movable between an unlocked state and a locked state. The locking feature is configured to permit movement of the actuator relative to the body assembly in the unlocked state. The locking feature is configured to prevent movement of the actuator relative to the body assembly in the locked state.

Abstract: A suture needle driving instrument comprises a shaft assembly, an end effector, and a grasping actuation assembly. The end effector is located at the distal end of the shaft assembly and includes a pair of grasping arms. Each grasping arm comprises a respective pair of jaws. Each pair of jaws is operable to cooperate to grasp and release a suture needle. The grasping actuation assembly is operable to drive one jaw of each pair in one direction while simultaneously driving the other jaw of the pair in an opposite direction, to selectively grasp or release the suture needle. The shaft assembly includes two pairs of parallel concentric shafts, which form part of the actuation assembly. Each shaft pair is operable to drive a respective internal drive shaft having separate threaded regions with opposing pitch. The instrument may be used through a trocar during minimally invasive surgery.

Abstract: A suture needle driving instrument comprises a shaft, an end effector, and a handle assembly. The end effector is located at the distal end of the shaft and includes a pair of grasping arms having a respective pair of jaws driven by a respective drive shaft. Each pair of jaws is operable to cooperate to grasp and release a suture needle. The handle assembly includes a control assembly that is operable to rotate the drive shafts to transfer the suture needle between the grasping arms. In some versions, the control assembly may include an actuatable rack. The rack may include one or more control features that selectively rotate the drive shafts as the rack is actuated. The rack may further include cam surfaces to selectively restrict the motion of the drive shafts as the rack is actuated. In some versions the rack may actuate vertically.

Abstract: A surgical suturing system comprises a reusable shaft having a proximal end and a distal end, the distal end has a receiver and a rotary drive. A reusable actuator is connected to the proximal end of the shaft. A disposable cartridge is adapted to be attached to and detached from the receiver. The cartridge comprises an arced track, an arced needle positioned in the track having a leading end and a trailing end, a length of suture connected to the trailing end, a reciprocating needle driver operative to engage and move the needle in the arced circular track, and a transmission operatively connected to the needle driver having a rotary input adapted to couple to the rotary drive. The reusable shaft and actuator may be autoclavable.

Abstract: A surgical suturing device comprises an arced needle track. An arced needle is positioned in the needle track, the needle having a leading end, a trailing end, a medial face, and a lateral face. A length of suture is connected to the needle. An arced carrier track is spaced from the needle track. A reciprocating needle driver has a carrier positioned in the carrier track and a driver positioned in the needle track and is operative to engage and move the needle in the needle track. A transmission is operative to reciprocate the carrier in the carrier track.

Abstract: A surgical suturing device comprises an arced needle having a leading end, a trailing end, and a length of suture. A needle driver is operable to drive the needle in a first rotational direction along a circular path. A cleat projects into the circular path and is operable to engage and prevent the needle from rotating in a second rotational direction opposite the first rotational direction. The cleat may project inward into the plane of the circular path.

Abstract: An apparatus for loading suture needles into a surgical instrument comprises a body, a first movable member, an engagement feature, and a needle. The body has a channel configured to receive a surgical instrument. The engagement feature is configured to open a cover of a surgical instrument upon insertion of a surgical instrument into the channel of the body. The first movable member is configured to deliver the suture needle to a surgical instrument after a surgical instrument has been inserted into the channel and the cover has been opened. The apparatus may further comprise a second movable member configured to facilitate delivery of the needle to a surgical instrument in conjunction with the first movable member.

Abstract: A surgical suturing device has an elongate shaft has a proximal end, a distal end, and a longitudinal axis between the proximal and distal ends. An actuator is connected to the proximal end of the elongate shaft. A circular needle applier is on the distal end of the elongate shaft. The circular needle applier has an arced needle and a needle driver operatively connected to the actuator to rotate the arced needle in a circular path. A joint is positioned between the proximal and distal ends of the elongate shaft. The joint is operatively connected to the actuator to selectively articulate the shaft. A bearing is on the shaft positioned distally of the joint. The bearing is operatively connected to the actuator to selectively rotate the circular needle applier about the longitudinal axis.

Abstract: An apparatus comprises an end effector, a shaft assembly, and an interface assembly. The end effector is operable to manipulate tissue, the shaft assembly is in communication with the end effector and a portion of the shaft assembly extends proximally from the end effector. The interface assembly is in communication with the shaft assembly. The interface assembly comprises a housing portion, a shaft cartridge, and a base portion. The housing portion can engage the shaft cartridge. The shaft cartridge is able to rotate and articulate the end effector, and the shaft assembly extends from the shaft cartridge. The base portion and the housing portion are able to enclose the shaft cartridge.

Abstract: An apparatus includes an interface assembly and a shaft assembly. The interface assembly is configured for use with a robotic system and includes a first drive assembly and a mounting plate. The mounting plate includes an opening. The first drive assembly is positioned within the opening such that the first drive assembly is laterally translatable within the opening from a first position to a second position. The shaft assembly is removably coupled with the interface assembly. The shaft assembly comprises an end effector and a first coupling feature. The first drive assembly of the interface assembly actuates the end effector of the shaft assembly. The first coupling feature is longitudinally aligned with the first drive assembly. The first drive assembly engages the first coupling feature of the shaft assembly when the first drive assembly is laterally translated from the first position to the second position.

Abstract: A suture needle driving instrument comprises a shaft, an end effector, and a handle assembly. The end effector is located at the distal end of the shaft and includes a pair of grasping arms operable to grasp and release a needle. The handle assembly comprises a trigger-operated actuation assembly that is operable to rotate a second grasping arm relative to the shaft. The trigger-operated actuation assembly may include a trigger and a trigger gear assembly that is operable to rotate the second grasping arm. A clutch assembly may also be included to selectively couple a drive shaft associated with the second grasping arm to another shaft. The handle assembly may further include a toggle actuation assembly that is operable to grasp and release a needle with the grasping arms. A locking feature may be included to prevent use of the toggle actuation assembly until trigger-operated actuation assembly has been operated.