US 12,256,923 B2
Endoluminal robotic systems and methods for suturing
Scott J. Prior, Branford, CT (US); Arvind Rajagopalan Mohan, Dracut, MA (US); John W. Komp, Dillon, CO (US); William J. Peine, Ashland, MA (US); Scott E. M. Frushour, Boulder, CO (US); and Anthony B. Ross, Boulder, CO (US)
Assigned to Covidien LP, Mansfield, MA (US)
Filed by Covidien LP, Mansfield, MA (US)
Filed on Aug. 8, 2021, as Appl. No. 17/396,761.
Claims priority of provisional application 63/125,391, filed on Dec. 14, 2020.
Claims priority of provisional application 63/064,938, filed on Aug. 13, 2020.
Prior Publication US 2022/0047259 A1, Feb. 17, 2022
Int. Cl. A61B 17/062 (2006.01); A61B 17/04 (2006.01); A61B 17/29 (2006.01); A61B 34/30 (2016.01)
CPC A61B 17/062 (2013.01) [A61B 17/0469 (2013.01); A61B 17/29 (2013.01); A61B 34/30 (2016.02); A61B 2034/301 (2016.02); A61B 2034/303 (2016.02)] 20 Claims
OG exemplary drawing
 
1. An endoluminal robotic system comprising:
a robot;
a needle driver tool removably coupled to the robot, the needle driver tool including a first jaw and a second jaw;
a grasping tool removably coupled to the robot;
a processor; and
a memory having stored thereon instructions, which, when executed by the processor, cause the robot to:
drive a suture needle with the first jaw of the needle driver tool through an anterior side of a defect;
transfer the suture needle to the second jaw of the needle driver tool;
rotate the needle driver tool by 180 degrees about a horizontal axis;
drive the suture needle with the second jaw of the needle driver tool through a posterior side of the defect; and
pull the two ends of suture thread via the needle driver tool and the grasping tool.