Systems and methods for robotic endoluminal suturing instrument
Inventors
MARKWARDT, Neil • Penny, Matthew Robert • Nasr-Church, Daniel • Toye, Julia • Selle, Benjamin
Assignees
Interested in licensing this patent?
MTEC can help explore whether this patent might be available for licensing for your application.
Publication Number
US-12285162-B2
Publication Date
2025-04-29
Expiration Date
Abstract
A suturing instrument is provided. The suturing instrument comprises: a flexible shaft comprising an articulatable bending section; and a needle end effector located at a distal end of the bending section. The needle end effector comprises a toggle-based rotation mechanism to switch an orientation of a needle to engage and disengage the needle with a ferrule.
Core Innovation
The disclosed invention is a robotic endoluminal suturing instrument that includes a flexible shaft with an articulatable bending section actuated by one or more pull wires coupled to a handle. A needle end effector is located at the distal end of the articulatable bending section, and a rotation mechanism located at the needle end effector switches an orientation of a needle about an axial axis of the needle to engage and disengage the needle with a ferrule.
The rotation mechanism provides orientation switching between dock and strip orientations for engaging and disengaging the ferrule using a toggle-based rotation indexing mechanism with a planar toggle plate and channels. The mechanism is described as alternating needle orientations over a predetermined angle range and providing indexed suture cycles and indexed reset cycles, including reset through alternating needle orientations.
Compact size constraints are described for the needle end effector, including a needle end effector length of 40 mm or less and a needle end effector diameter of 5 mm or less. The instrument is integrated with robotic supports and instrument driving mechanisms and is inserted through a working channel of a flexible robotic endoscope.
Claims Coverage
The partial claim set includes one independent claim. The independent claim covers a suturing instrument architecture combining a cable-actuated articulatable flexible shaft with a needle end effector that uses a substantially planar plate with one or more channels to switch needle orientation for ferrule engagement and disengagement.
Pull-wire actuated flexible shaft with articulatable bending section
A flexible shaft comprising an articulatable bending section, wherein the articulatable bending section is actuated by one or more pull wires and proximal ends of the one or more pull wires are coupled to a handle of the suturing instrument.
Needle end effector rotation mechanism for ferrule engage/disengage
A needle end effector located at a distal end of the articulatable bending section, wherein a rotation mechanism is located at the needle end effector to switch an orientation of a needle about an axial axis of the needle to engage and disengage the needle with a ferrule.
Substantially planar plate with one or more channels for orientation switching
The rotation mechanism comprises a substantially planar plate and one or more channels.
Across the independent claim, the key inventive elements are a pull-wire actuated flexible articulatable bending section, a distal needle end effector with an on-effector rotation mechanism that switches needle orientation about a needle axial axis to engage and disengage a ferrule, and implementation of the rotation mechanism using a substantially planar plate with one or more channels.
Stated Advantages
Documented Applications
No documented applications found
Interested in licensing this patent?