Abstract: Systems and methods are provided for percutaneously suturing tissue. An elongated deployment member having a guide member coaxially disposed over a shaft member may be used to carry a needle deployment member. The needle deployment member may be carried at a distal end of the elongated deployment member and include a plurality of needles releasably secured to the needle deployment member, wherein each needle is routed coaxially within the distal end of the needle deployment member. The needle deployment member may further include a needle pusher driven by a link coaxially disposed within the shaft member, wherein the needle pusher is configured to advance each needle through the distal end of the needle deployment member and coaxially over the proximal end of the needle deployment member to position the plurality of needles at a piercing angle in a proximal direction.

Abstract: Systems are provided for delivering a suture to close a surgical opening. An elongated deployment member may have at its distal end a retracted counterforce member. The counterforce member may be inserted into the surgical opening and deployed to resist being withdrawn from the opening. A compression member may be slid down the elongated member to compress the tissue to be sutured against the counterforce member. Suture passers loaded with suture ends may be passed through needle tubes within the elongated member to emerge from the elongated member and pierce the tissue to be sutured, then deposit the suture ends with a suture catcher. The suture passers may be withdrawn, leaving the suture ends. The suture catcher may be retracted, retaining the suture ends and the device—elongated member, retracted suture catcher, and retained suture end—may be withdrawn from the surgical opening. The suture may then be completed.

Abstract: Systems are provided for delivering a suture to close a surgical opening. An elongated deployment member may have at its distal end a retracted counterforce member. The counterforce member may be inserted into the surgical opening and deployed to resist being withdrawn from the opening. A compression member may be slid down the elongated member to compress the tissue to be sutured against the counterforce member. Suture passers loaded with suture ends may be passed through needle tubes within the elongated member to emerge from the elongated member and pierce the tissue to be sutured, then deposit the suture ends with a suture catcher. The suture passers may be withdrawn, leaving the suture ends. The suture catcher may be retracted, retaining the suture ends and the device—elongated member, retracted suture catcher, and retained suture end—may be withdrawn from the surgical opening. The suture may then be completed.

Abstract: Systems and methods are provided for suturing tissue. An elongated deployment shaft carries a needle deployment assembly with needles carrying suture material. A needle catcher is disposed over the shaft and configured to engage and retain at least a portion of each of the needles carrying the suture material when the needles are passed through the tissue to be sutured to a proximal position.

Abstract: Systems and methods are provided for suturing tissue. An elongated deployment shaft carries a needle deployment assembly with needles carrying suture material and a stabilizer that is reconfigurable between an unexpanded insertion profile and an expanded profile. A catcher tube over the shaft having a catcher at a distal end may retain at least a portion of the needles carrying the suture material when the needles are passed through the tissue to be sutured into engagement with the catcher. A sheath over the catcher tube may sandwich tissue to be sutured against the stabilizer when expanded under control of first actuator. A second actuator may control the needles.

Abstract: Systems and methods are provided for percutaneously suturing tissue. An elongated deployment member having a guide member coaxially disposed over a shaft member may be used to carry a needle deployment member. The needle deployment member may be carried at a distal end of the elongated deployment member and include a plurality of needles releasably secured to the needle deployment member, wherein each needle is routed coaxially within the distal end of the needle deployment member. The needle deployment member may further include a needle pusher driven by a link coaxially disposed within the shaft member, wherein the needle pusher is configured to advance each needle through the distal end of the needle deployment member and coaxially over the proximal end of the needle deployment member to position the plurality of needles at a piercing angle in a proximal direction.

Abstract: Systems and methods are provided for percutaneously suturing tissue. An elongated deployment member having a guide member coaxially disposed over a shaft member may be used to carry a needle deployment member. The needle deployment member may be carried at a distal end of the elongated deployment member and include a plurality of needles releasably secured to the needle deployment member, wherein each needle is routed coaxially within the distal end of the needle deployment member. The needle deployment member may further include a needle pusher driven by a link coaxially disposed within the shaft member, wherein the needle pusher is configured to advance each needle through the distal end of the needle deployment member and coaxially over the proximal end of the needle deployment member to position the plurality of needles at a piercing angle in a proximal direction.

Abstract: Systems are provided for delivering a suture to close a surgical opening. An elongated deployment member may have at its distal end a retracted counterforce member. The counterforce member may be inserted into the surgical opening and deployed to resist being withdrawn from the opening. A compression member may be slid down the elongated member to compress the tissue to be sutured against the counterforce member. Suture passers loaded with suture ends may be passed through needle tubes within the elongated member to emerge from the elongated member and pierce the tissue to be sutured, then deposit the suture ends with a suture catcher. The suture passers may be withdrawn, leaving the suture ends. The suture catcher may be retracted, retaining the suture ends and the device—elongated member, retracted suture catcher, and retained suture end—may be withdrawn from the surgical opening. The suture may then be completed.

Abstract: Systems and methods are provided for suturing tissue. An elongated deployment shaft carries a needle deployment assembly with needles carrying suture material and a stabilizer that is reconfigurable between an unexpanded insertion profile and an expanded profile. A catcher tube over the shaft having a catcher at a distal end may retain at least a portion of the needles carrying the suture material when the needles are passed through the tissue to be sutured into engagement with the catcher. A sheath over the catcher tube may sandwich tissue to be sutured against the stabilizer when expanded. A first actuator may move the catcher tube distally relative to the shaft to decrease a distance between the proximal end of the stabilizer and the distal end of the stabilizer to expand the stabilizer and may move the sheath distally relative to the shaft to sandwich the tissue.

Abstract: Systems and methods are provided for suturing tissue. An elongated deployment shaft carries a needle deployment assembly with needles carrying suture material. A needle catcher is disposed over the shaft and configured to engage and retain at least a portion of each of the needles carrying the suture material when the needles are passed through the tissue to be sutured to a proximal position.

Abstract: Systems are provided for delivering a suture to close a surgical opening. An elongated deployment member may have at its distal end a retracted counterforce member. The counterforce member may be inserted into the surgical opening and deployed to resist being withdrawn from the opening. A compression member may be slid down the elongated member to compress the tissue to be sutured against the counterforce member. Suture passers loaded with suture ends may be passed through needle tubes within the elongated member to emerge from the elongated member and pierce the tissue to be sutured, then deposit the suture ends with a suture catcher. The suture passers may be withdrawn, leaving the suture ends. The suture catcher may be retracted, retaining the suture ends and the device—elongated member, retracted suture catcher, and retained suture end—may be withdrawn from the surgical opening. The suture may then be completed.

Abstract: An apparatus having a member that revolves about a remote center of motion (RCM) and a base link coupled to a mounting fixture. A first and second link are pivotably coupled to the member at respective distances from the RCM and are translatable relative to the base link along a first direction, at a fixed ratio of displacement. The ratio of respective distances equals a fixed ratio of displacement. The apparatus has a translational motion generator for a first and second element along parallel opposing directions. The translational motion generator is disposed on the first link and enables motion parallel to the first direction. The base link is fixed in position, the first element is fixed to the base link and the second element is fixed to the second link, such that the first and second link may translate relative to the base link with fixed ratio of displacement.

Abstract: Systems and methods are provided for percutaneously suturing tissue. An elongated deployment member having a guide member coaxially disposed over a shaft member may be used to carry a needle deployment member. The needle deployment member may be carried at a distal end of the elongated deployment member and include a plurality of needles releasably secured to the needle deployment member, wherein each needle is routed coaxially within the distal end of the needle deployment member. The needle deployment member may further include a needle pusher driven by a link coaxially disposed within the shaft member, wherein the needle pusher is configured to advance each needle through the distal end of the needle deployment member and coaxially over the proximal end of the needle deployment member to position the plurality of needles at a piercing angle in a proximal direction.

Abstract: Apparatus comprising a member (6) arranged to revolve about a remote centre of motion (O) and a base link (3) coupled to a mounting fixture (1). A first link (4) and a second link (5) are pivotably coupled to the member at respective distances (L1, L2) from the remote centre of motion (O) and are translatable relative to the base link (3) along a first direction and at a fixed ratio of displacement. The ratio of said respective distances equals said fixed ratio of displacement, enabling the member (6) to revolve about the remote centre of motion. The apparatus is characterised in that it comprises means (7) for generating translational motion of a first element (37) and of a second element (57) along parallel but opposite directions. The means for generating translational motion is provided on the first link (4) and is arranged to provide motion parallel to the first direction.