Patent Description:
The use of robotic technology within the operating room has been increasing at an astounding rate. In <NUM>, there were approximately <NUM>,<NUM> robotic assisted surgical cases performed in the United States alone. Robotic assisted surgery is utilized globally in multiple surgical subspecialties. These include: cardiac surgery, thoracic surgery, gynecology, urology, otolaryngology, colorectal surgery, and general surgery. Within each of these specialties there are a variety of robotic cases in which suture is required.

Suture management within a robotic case is a common barrier to efficient surgical workflow. Poor suture management results in: increased operative times; knotting, fracturing, or accidental cutting of the suture; frustration for the surgeon; and ultimately a barrier to more frequent use of the robotic technology. Currently, surgeons navigate this suture management issue by substituting a long suture length with multiple shorter suture length to complete a case. This methodology generates increased total volume and expense of suture; increased OR expenses via longer operative times; and increased potential for a retained needle within the patient. <CIT> discloses an oval suture holder for winding sutures in a particular way. A first portion of suture is wound in a first direction and a second portion of said suture is wound in an opposite second direction. <CIT> describes a device for holding a suture comprising a carrier including a base which includes a primary wrapping path for receiving a suture thread. <CIT> shows an apparatus for holding several surgical needles for use in performing robotic-assisted endoscopic surgery on a subject's body.

The disclosed embodiments will aid in efficient suture management in robotic surgery. It will decrease overall cost and increase patient safety across all robotic surgical specialties. Ultimately, this device and method will assist with the global proliferation of computer-aided surgery.

The present disclosure includes the features recited in the appended claims.

According to a first aspect of the disclosed embodiments, a suturing device includes a clamshell body configured to be inserted into a surgical site of a patient. The clamshell body has a first side coupled to a second side by a hinge at a hinge end. The first side and the second side each have a cantilevered end opposite the hinge end. The clamshell body is configured to actuate between an open position and a closed position. A suture retainer is positioned within the claim shell body and is configured to receive a suture. An is opening formed in a wall of the clamshell body. An end of the suture is configured to extend through the opening when the clamshell body is in the closed position so that the suture is accessible within the surgical site of the patient. A first side slot extends through the first side of the clamshell body. A cartridge is configured to be removeably inserted through the first side slot. The suture is configured to be wound around the cartridge to assist in positioning the suture around the suture retainer.

In some embodiments of the first aspect, the suture retainer may extend from an inner wall of the first side of the clamshell body and may be positioned around the first side slot. The suture retainer may include a plurality of pegs arranged around the first side slot. The suture may be configured to be wound around the plurality of pegs. The cartridge may include a plurality of notches. Each of the plurality of pegs may be configured to rest within one of the plurality of notches when the cartridge is inserted through the first side slot.

Optionally, in the first aspect, a second side slot may extend through the second side of the clamshell body. At least a portion of the cartridge may extend through the second side slot when the cartridge is inserted through the first side slot and the clamshell body is moved to the closed position. When the cartridge is inserted through the first side slot, moving the clamshell body to the closed position may assist in positioning the suture around the suture retainer. When the cartridge is inserted through the first side slot and the clamshell body is moved to the closed position, the cartridge may be removable from the clamshell body through the first side slot. The cartridge may include a sloped end to enable the at least a portion of the cartridge to move through the second side slot when the clamshell body is moved to the closed position.

It may be desired, in the first aspect, that the suture may be configured to be positioned on the suture retainer at least one of during a medical procedure for the patient and before a medical procedure for the patient. At least one notch may be formed in at least one of the first side and the second side of the clamshell. A surgical robotic arm may be configured to couple to the clamshell body at the at least one notch.

According to a second aspect of the disclosed embodiments which does not form part of the claimed invention, a method of preparing a suturing device including a clamshell body configured to be inserted into a surgical site of a patient may include moving the clamshell body to an open position wherein a first side of the clamshell body is rotated away from a second side of the clamshell body. The first side is coupled to the second side by a hinge at a hinge end. The method also includes removeably inserting a cartridge through a first side slot extending through the first side of the clamshell body. The method also include winding a suture around the cartridge to assist in positioning the suture around a suture retainer positioned within the clamshell body. The method also includes extending an end of the suture through an opening formed in a wall of the clamshell body. The method also includes moving the clamshell body to a closed position wherein the first side of the clamshell body is rotated toward the second side of the clamshell body. The end of the suture is configured to extend through the opening when the clamshell body is in the closed position so that the suture is accessible within the surgical site of the patient.

In some embodiments of the second aspect which does not form part of the claimed invention, the method may also include inserting the cartridge through the suture retainer when the cartridge is inserted into the first side slot. The suture retainer may include a plurality of pegs arranged around the first side slot. The method may also include inserting the cartridge between the plurality of pegs when the cartridge is inserted into the first side slot. The cartridge may include a plurality of notches. The method may also include positioning each of the plurality of pegs within one of the plurality of notches when the cartridge is inserted through the first side slot.

Optionally, in the second aspect which does not form part of the claimed invention, the method also includes extending at least a portion of the cartridge through a second side slot extending through the second side of the clamshell body when the cartridge is inserted through the first side slot and the clamshell body is moved to the closed position. The method may also include moving the clamshell body to the closed position to assist in positioning the suture around the suture retainer when the cartridge is inserted through the first side slot. The method may also include removing the cartridge from the clamshell body through the first side slot after the cartridge is inserted through the first side slot and the clamshell body is moved to the closed position. The cartridge may include a sloped end. The method may also include guiding the at least a portion of the cartridge to move through the second side slot with the sloped end when the clamshell body is moved to the closed position.

It may be contemplated, in the second aspect which does not form part of the claimed invention, that the method may also include positioning the suture on the suture retainer at least one of during a medical procedure for the patient and before a medical procedure for the patient. The method may also include coupling the clamshell body to a surgical robotic arm.

While the concepts of the present disclosure are susceptible to various modifications and alternative forms, specific exemplary embodiments thereof have been shown by way of example in the drawings and will herein be described in detail. It should be understood, however, that there is no intent to limit the concepts of the present disclosure to the particular forms disclosed, but on the contrary, the intention is to cover all modifications and alternatives falling within the scope of the invention as defined by the appended claims.

Referring to <FIG>, an automated surgery system <NUM> includes at least one robotic arm <NUM> having a plurality of fingers <NUM> to grab surgical instruments. The robotic arm <NUM> is positioned at a surgical site so that the robotic arm <NUM> can manipulate the instruments at the surgical site. A control panel <NUM> includes a plurality of controls <NUM>, e.g. a joystick, for a surgeon to manipulate the robotic arms <NUM> during surgery.

Referring to <FIG>, a suturing device <NUM> is configured for use with the system <NUM> by securing the suturing device <NUM> to one of the plurality of fingers <NUM> of the robotic arm <NUM>. The suturing device <NUM> is configured to be inserted into a surgical site of a patient to facilitate closing the surgical site after a surgical procedure. The suturing device <NUM> retains a suture <NUM> (described in more detail below) that can be pulled from the suturing device <NUM> to facilitate closing the surgical site. The suture <NUM> is configured to be pulled from the suturing device <NUM> while the suturing device <NUM> is inserted in the surgical site, e.g. inside the patient. The suture <NUM> is threaded through tissue that is to be closed before the suturing device <NUM> is removed from the surgical site. After the suturing device <NUM> is removed from the surgical site the suture <NUM> is tied together in at least one location to close the surgical site. In at least one embodiment, the suture <NUM> is wound within the suturing device <NUM> by a caregiver or technician prior to the surgical procedure. Accordingly, the suturing device <NUM> can accommodate any suture type used within a healthcare facility. A caregiver or technician selects the appropriate suture type for the surgical procedure, and the appropriate suture type is wound within the suturing device <NUM> at the healthcare facility prior to the surgical procedure. In another embodiment, the suturing device <NUM> may be pre-loaded with the suture <NUM>.

The suturing device <NUM> includes a clamshell body <NUM> having a first side <NUM> and a second side <NUM>. Each of the first side <NUM> and the second side <NUM> includes a hinge end <NUM> and a cantilevered end <NUM>. A pair of sidewalls extend between the hinge end <NUM> and the cantilevered end <NUM> of each of the first side <NUM> and the second side <NUM>. The first side <NUM> is coupled to the second side <NUM> by a hinge <NUM> at the hinge end <NUM> of the first side <NUM> and the second side <NUM>. The hinge <NUM> enables the clamshell body <NUM> to articulate between an open position <NUM> (shown in <FIG>) and a closed position <NUM> (shown in <FIG>). The cantilevered end <NUM> of the second side <NUM> of the clamshell body <NUM> includes latch <NUM> having an arm <NUM> and an outwardly extending flange <NUM> extending from an end <NUM> of the arm <NUM>. The cantilevered end <NUM> of the first side <NUM> of the clamshell body <NUM> includes an opening <NUM>. The latch <NUM> is configured to extend though the opening <NUM> so that the flange <NUM> secures the first side <NUM> of the clamshell body <NUM> to the second side <NUM> of the clamshell body <NUM> when the clamshell body <NUM> is in the closed position <NUM> (as shown in <FIG>).

Referring to <FIG>, a suture retainer <NUM> is positioned within the claim shell body <NUM> and configured to receive the suture <NUM>. The suture retainer <NUM> extends from an inner wall <NUM> of the first side <NUM> of the clamshell body <NUM>. The suture retainer <NUM> includes a plurality of pegs <NUM> extending from the inner wall <NUM>. In the illustrative embodiment, the plurality of pegs <NUM> are arranged in two rows <NUM> extending between the hinge end <NUM> and the cantilevered end <NUM> of the first side <NUM> of the clamshell body <NUM>. In other embodiments, the suturing device <NUM> may include only one row <NUM> of pegs <NUM> or more than two rows <NUM> of pegs <NUM>. It may be contemplated that the suturing device <NUM> only includes one peg <NUM> in some embodiments. In some embodiments, the caregiver or technician winds the suture <NUM> around the suture retainer <NUM> at the healthcare facility. In other embodiments, the suture is pre-loaded around the suture retainer <NUM>.

An opening <NUM> is formed in the cantilevered end <NUM> of the second side <NUM> of the clamshell body <NUM>. In the illustrative embodiment, the opening <NUM> is formed in a corner <NUM> of the cantilevered end <NUM> of the second side <NUM> of the clamshell body <NUM>. In other embodiments, the opening <NUM> may be centered in the cantilevered end <NUM> of the second side <NUM> of the clamshell body <NUM>. In yet another embodiment, the opening <NUM> may be formed in the sidewall of the second side <NUM>. It may also be contemplated that the opening <NUM> is formed in a sidewall of the first side <NUM>, in some embodiments. When the suture <NUM> is wound around the suture retainer <NUM>, and end <NUM> of the suture <NUM> having a needle <NUM> extends from the suturing device <NUM> (as described in more detail below).

Referring now to <FIG>, notches <NUM> are formed adjacent the hinge end <NUM> of each of the first side <NUM> and the second side <NUM> of the suturing device <NUM>. In particular, a first set of notches <NUM> are formed adjacent the hinge end <NUM> of the first side <NUM>, and a second set of notches <NUM> are formed adjacent the hinge end <NUM> of the second side <NUM>. In the closed position <NUM> (as shown in <FIG>), the first set of notches <NUM> are positioned opposite the second set of notches <NUM>. The fingers <NUM> of the robotic arm <NUM> are configured to grip the suturing device <NUM> at the notches <NUM> so that the suturing device <NUM> is secured to the system <NUM> during the surgical procedure.

<FIG> illustrates the suture <NUM> wound around the suture retainer <NUM>. The suture <NUM> is wound around the outside of the suture retainer <NUM> in loops. That is, the suture <NUM> is wound around the outside of each of the plurality of pegs <NUM>. As illustrated in <FIG>, in the closed position <NUM>, the end <NUM> of the suture <NUM> extends through the opening <NUM>. Accordingly, the needle <NUM> can be pulled by the fingers <NUM> of the robotic arm <NUM> to unwind the suture <NUM> and pull the suture <NUM> through the opening <NUM> during the surgical procedure. By unwinding the suture <NUM>, the suture may be passed through the patient's tissue to facilitate closing the surgical site.

Referring now to <FIG>, a cartridge <NUM> for positioning the suture <NUM> in the device <NUM> includes a body <NUM>. The body <NUM> includes a top end <NUM> and a bottom end <NUM>. A main body <NUM> extends from a flange <NUM> at the top end <NUM> to a lower body <NUM> at the bottom end <NUM>. The main body <NUM> has a width <NUM> and a length <NUM> that is larger than a width <NUM> and a length <NUM> of the lower body <NUM> so that a ledge <NUM> is formed between the main body <NUM> and the lower body <NUM>. A plurality of notches <NUM> are formed at the ledge <NUM> and extend into the main body <NUM>.

A sliding bracket <NUM> extends around the main body <NUM>. The bracket <NUM> is configured to slide along a height <NUM> of the main body <NUM>. The bracket <NUM> is prevented from sliding off the top end <NUM> of the cartridge <NUM> by the flange <NUM>. The bracket <NUM> includes opposite ends <NUM> that each have a plurality of suture tabs <NUM> attached thereto. The suture tabs <NUM> each include a break point <NUM> that enables the tab <NUM> to be detached from the bracket <NUM>.

During the surgical procedure, the suture <NUM> is wound around the main body <NUM> by a caregiver. In some embodiments, the suture <NUM> is pre-loaded around the main body <NUM> prior to the surgical procedure. An end <NUM> of the suture <NUM> positioned opposite the end <NUM> of the suture <NUM> is secured to one of the suture tabs <NUM>. In some embodiments, the suture <NUM> may be utilized without the suture tab <NUM>.

The lower body <NUM> of the cartridge <NUM> is removeably positioned in the suture retainer <NUM>. In the illustrative embodiment, the lower body <NUM> is positioned between the pegs <NUM>. Each peg <NUM> extends into one of the notches <NUM> in the main body <NUM> to secure the cartridge <NUM> into the device <NUM>. With the cartridge <NUM> positioned in the device <NUM>, the bracket <NUM> is slid down the main body <NUM> to push the suture <NUM> off of the main body <NUM> and around the suture retainer <NUM>, e.g. around the pegs <NUM>.

With the suture <NUM> secured around the suture retainer <NUM>, the suture tab <NUM> to which the end <NUM> of the suture <NUM> is secured is broken off of the bracket <NUM> at the break point <NUM>. In some embodiments, the suture tab <NUM> is broken off the bracket <NUM> prior to sliding the suture <NUM> onto the suture retainer <NUM>. The cartridge <NUM> is then removed from the device <NUM> and the device <NUM> is moved to the closed position, shown in <FIG>, with the end <NUM> of the suture <NUM> extending through the opening <NUM>. The device is inserted into the surgical site of the patient and the suture <NUM> is pulled from the device <NUM> to stitch the surgical site. When all of the suture <NUM> is removed from the device <NUM>, the suture tab <NUM> anchors against the tissue of the patient inside the surgical site to secure the suture <NUM>.

Referring now to <FIG>, another cartridge <NUM> for positioning the suture <NUM> in the device <NUM> includes a body <NUM>. The body <NUM> includes a top end <NUM> and a bottom end <NUM>. A main body <NUM> extends from the top end <NUM> to a lower body <NUM> at the bottom end <NUM>. The main body <NUM> has a width <NUM> and a length <NUM> that is larger than a width <NUM> and a length <NUM> of the lower body <NUM> so that a ledge <NUM> is formed between the main body <NUM> and the lower body <NUM>. A plurality of notches <NUM> are formed at the ledge <NUM> and extend into the main body <NUM>. The main body <NUM> includes a plurality of suture tabs <NUM> extending from the top end <NUM>. The suture tabs <NUM> each include a break point <NUM> that enables the tab <NUM> to be detached from the main body <NUM>. In some embodiments, the cartridge <NUM> may also include a sliding bracket similar to sliding bracket <NUM>.

During the surgical procedure, the suture <NUM> is wound around the main body <NUM> by a caregiver. In some embodiments, the suture <NUM> is pre-loaded around the main body <NUM> prior to the surgical procedure. The end <NUM> of the suture <NUM> is secured to one of the suture tabs <NUM>. In some embodiments, the suture <NUM> may be utilized without the suture tab <NUM>.

The lower body <NUM> of the cartridge <NUM> is removeably positioned in the suture retainer <NUM>. In the illustrative embodiment, the lower body <NUM> is positioned between the pegs <NUM>. Each peg <NUM> extends into one of the notches <NUM> in the main body <NUM> to secure the cartridge <NUM> into the device <NUM>. With the cartridge <NUM> positioned in the device <NUM>, a caregiver slides the suture <NUM> down the main body <NUM> to push the suture <NUM> off of the main body <NUM> and around the suture retainer <NUM>, e.g. around the pegs <NUM>. In some embodiments, a sliding bracket similar to sliding bracket <NUM> is used to move the suture <NUM> onto the suture retainer <NUM>.

With the suture <NUM> secured around the suture retainer <NUM>, the suture tab <NUM> to which the end <NUM> of the suture <NUM> is secured is broken off of the bracket <NUM> at the break point <NUM>. In some embodiments, the suture tab <NUM> is broken off prior to moving the suture <NUM> onto the suture retainer <NUM>. The cartridge <NUM> is then removed from the device <NUM> and the device <NUM> is moved to the closed position, shown in <FIG>, with the end <NUM> of the suture <NUM> extending through the opening <NUM>. The device is inserted into the surgical site of the patient and the suture <NUM> is pulled from the device <NUM> to stitch the surgical site. When all of the suture <NUM> is removed from the device <NUM>, the suture tab <NUM> anchors against the tissue of the patient inside the surgical site to secure the suture <NUM>.

Referring now to <FIG>, a suturing device <NUM> is configured for use with the system <NUM> by securing the suturing device <NUM> to one of the plurality of fingers <NUM> of the robotic arm <NUM>. The suturing device <NUM> is configured to be inserted into a surgical site of a patient to facilitate closing the surgical site after a surgical procedure. The suturing device <NUM> retains a suture that can be pulled from the suturing device <NUM> to facilitate closing the surgical site. The suture is configured to be pulled from the suturing device <NUM> while the suturing device <NUM> is inserted in the surgical site, e.g. inside the patient. The suture is threaded through tissue that is to be closed before the suturing device <NUM> is removed from the surgical site. After the suturing device <NUM> is removed from the surgical site the suture is tied together in at least one location to close the surgical site. In at least one embodiment, the suture is wound within the suturing device <NUM> by a caregiver or technician prior to the surgical procedure. Accordingly, the suturing device <NUM> can accommodate any suture type used within a healthcare facility. A caregiver or technician selects the appropriate suture type for the surgical procedure, and the appropriate suture type is wound within the suturing device <NUM> at the healthcare facility prior to the surgical procedure. In another embodiment, the suturing device <NUM> may be pre-loaded with the suture.

The suturing device <NUM> includes a clamshell body <NUM> having a first side <NUM> and a second side <NUM>. Each of the first side <NUM> and the second side <NUM> includes a hinge end <NUM> and a cantilevered end <NUM>. A pair of sidewalls extend between the hinge end <NUM> and the cantilevered end <NUM> of each of the first side <NUM> and the second side <NUM>. The first side <NUM> is coupled to the second side <NUM> by a hinge <NUM> at the hinge end <NUM> of the first side <NUM> and the second side <NUM>. The hinge <NUM> enables the clamshell body <NUM> to articulate between an open position and a closed position. The cantilevered end <NUM> of the second side <NUM> of the clamshell body <NUM> includes latch <NUM> having an arm <NUM> and an outwardly extending flange <NUM> extending from an end <NUM> of the arm <NUM>. The cantilevered end <NUM> of the first side <NUM> of the clamshell body <NUM> includes an opening <NUM>. The latch <NUM> is configured to extend though the opening <NUM> so that the flange <NUM> secures the first side <NUM> of the clamshell body <NUM> to the second side <NUM> of the clamshell body <NUM> when the clamshell body <NUM> is in the closed position.

A suture retainer <NUM> is positioned within the claim shell body <NUM> and configured to receive the suture. The suture retainer <NUM> extends from an inner wall <NUM> of the first side <NUM> of the clamshell body <NUM>. The suture retainer <NUM> includes a plurality of pegs <NUM> extending from the inner wall <NUM>. In the illustrative embodiment, the plurality of pegs <NUM> are arranged in two rows <NUM> extending between the hinge end <NUM> and the cantilevered end <NUM> of the first side <NUM> of the clamshell body <NUM>. In some embodiments, the caregiver or technician winds the suture around the suture retainer <NUM> at the healthcare facility. In other embodiments, the suture is pre-loaded around the suture retainer <NUM>.

An opening <NUM> is formed in the cantilevered end <NUM> of the second side <NUM> of the clamshell body <NUM>. In the illustrative embodiment, the opening <NUM> is formed in a corner <NUM> of the cantilevered end <NUM> of the second side <NUM> of the clamshell body <NUM>. In other embodiments, the opening <NUM> may be centered in the cantilevered end <NUM> of the second side <NUM> of the clamshell body <NUM>. In yet another embodiment, the opening <NUM> may be formed in the sidewall of the second side <NUM>. It may also be contemplated that the opening <NUM> is formed in a sidewall of the first side <NUM>, in some embodiments. When the suture is wound around the suture retainer <NUM>, and end of the suture having a needle extends from the suturing device <NUM>.

A first side slot <NUM> extends through the first side <NUM> of the clamshell body <NUM>. The suture retainer <NUM> extends around the first side slot <NUM>. That is, the plurality of pegs <NUM> is arranged around the first side slot <NUM>. The first side slot <NUM> includes a plurality of notches <NUM>. Each peg <NUM> is positioned between a pair of adjacent notches <NUM>. A second side slot <NUM> extends through the second side <NUM> of the clamshell body <NUM>. When the clamshell body <NUM> is positioned in the closed position, the first side slot <NUM> is aligned with the second side slot <NUM>.

Referring now to <FIG>, notches <NUM> are formed adjacent the hinge end <NUM> of each of the first side <NUM> and the second side <NUM> of the suturing device <NUM>. In particular, a first set of notches <NUM> are formed adjacent the hinge end <NUM> of the first side <NUM>, and a second set of notches <NUM> are formed adjacent the hinge end <NUM> of the second side <NUM>. In the closed position, the first set of notches <NUM> are positioned opposite the second set of notches <NUM>. The fingers <NUM> of the robotic arm <NUM> are configured to grip the suturing device <NUM> at the notches <NUM> so that the suturing device <NUM> is secured to the system <NUM> during the surgical procedure.

Referring to <FIG>, a cartridge <NUM> is configured to be removeably inserted through the first side slot <NUM>. The suture is configured to be wound around the cartridge <NUM> to assist in positioning the suture around the suture retainer <NUM>. The cartridge <NUM> includes a lower body <NUM> having a plurality of notches <NUM> formed on each side of the cartridge <NUM>. Each of the plurality of pegs <NUM> is configured to rest within one of the plurality of notches <NUM> when the cartridge <NUM> is inserted through the first side slot <NUM>, as illustrated in <FIG>. At least a portion of the cartridge <NUM> is configured to extend through the second side slot <NUM> when the cartridge <NUM> is inserted through the first side slot <NUM> and the clamshell body <NUM> is moved to the closed position, as illustrated in <FIG>. The cartridge <NUM> also includes a top <NUM> having a sloped end <NUM> to enable the at least a portion of the cartridge <NUM> to move through the second side slot <NUM> when the clamshell body <NUM> is moved to the closed position. A base <NUM> of the cartridge <NUM> is sized greater than the lower body <NUM> to prevent the entire cartridge <NUM> from passing through the first side slot <NUM>.

Referring now to <FIG>, a method <NUM> of preparing the suturing device <NUM> including the clamshell body <NUM> which does not form part of the claimed invention includes moving the clamshell body <NUM> to an open position wherein the first side <NUM> of the clamshell body <NUM> is rotated away from the second side <NUM> of the clamshell body <NUM>, at block <NUM>. At block <NUM>, the cartridge <NUM> is removeably inserted through the first side slot <NUM> in the first side of <NUM> the clamshell body <NUM>. The cartridge <NUM> extends through the suture retainer <NUM> when the cartridge <NUM> is inserted into the first side slot <NUM>. That is, the cartridge <NUM> is inserted between the plurality of pegs <NUM> when the cartridge <NUM> is inserted into the first side slot <NUM>. Each of the plurality of pegs <NUM> is positioned to rest within one of the plurality of notches <NUM> when the cartridge <NUM> is inserted through the first side slot <NUM>. At block <NUM>, a suture is wound around the cartridge <NUM> to assist in positioning the suture around a suture retainer <NUM> positioned within the clamshell body <NUM>. At block <NUM>, an end of the suture is extended through the opening <NUM> formed in the wall of the clamshell body <NUM>.

At block <NUM> the clamshell body <NUM> is moved to the closed position wherein the first side <NUM> of the clamshell body <NUM> is rotated toward the second side <NUM> of the clamshell body <NUM>. At least a portion of the cartridge <NUM> extends through the second side slot <NUM> extending through the second side <NUM> of the clamshell body <NUM> when the cartridge <NUM> is inserted through the first side slot <NUM> and the clamshell body <NUM> is moved to the closed position. The at least a portion of the cartridge <NUM> is guided through the second side slot <NUM> by the sloped end <NUM> of the cartridge <NUM> when the clamshell body <NUM> is moved to the closed position. The clamshell body <NUM> is moved to the closed position to assist in positioning the suture around the suture retainer <NUM> when the cartridge <NUM> is inserted through the first side slot <NUM>. That is, when moving the clamshell body <NUM> to the closed position, the second side <NUM> of the clamshell body <NUM> pushes the suture down the cartridge <NUM> and onto the suture retainer <NUM>. The end of the suture extends through the opening <NUM> when the clamshell body <NUM> is in the closed position so that the suture is accessible within the surgical site of the patient.

At block <NUM>, the cartridge <NUM> is removed from the clamshell body <NUM> through the first side slot <NUM> after the cartridge <NUM> is inserted through the first side slot <NUM> and the clamshell body <NUM> is moved to the closed position. It should be noted that the suture may be positioned on the suture retainer <NUM> during the medical procedure for the patient or before a medical procedure for the patient. The method <NUM> which does not form part of the claimed invention may also include coupling the clamshell body <NUM> to the surgical robotic arm <NUM> after securing the suture within the suturing device <NUM>, at block <NUM>.

Any theory, mechanism of operation, proof, or finding stated herein is meant to further enhance understanding of principles of the present disclosure and is not intended to make the present disclosure in any way dependent upon such theory, mechanism of operation, illustrative embodiment, proof, or finding. It should be understood that while the use of the word preferable, preferably or preferred in the description above indicates that the feature so described can be more desirable, it nonetheless cannot be necessary and embodiments lacking the same can be contemplated as within the scope of the disclosure, that scope being defined by the claims that follow.

In reading the claims it is intended that when words such as "a," "an," "at least one," "at least a portion" are used there is no intention to limit the claim to only one item unless specifically stated to the contrary in the claim. When the language "at least a portion" and/or "a portion" is used the item can include a portion and/or the entire item unless specifically stated to the contrary.

Claim 1:
A suturing device (<NUM>, <NUM>) comprising:
a clamshell body (<NUM>, <NUM>) configured to be inserted into a surgical site of a patient, the clamshell body (<NUM>, <NUM>) having a first side (<NUM>, <NUM>) coupled to a second side (<NUM>, <NUM>) by a hinge (<NUM>, <NUM>) at a hinge end (<NUM>, <NUM>), the first side (<NUM>, <NUM>) and the second side (<NUM>, <NUM>) each having a cantilevered end (<NUM>, <NUM>) opposite the hinge end (<NUM>, <NUM>), wherein the clamshell body (<NUM>, <NUM>) is configured to actuate between an open position and a closed position;
a suture retainer (<NUM>, <NUM>) positioned within the clamshell body and configured to receive a suture (<NUM>);
characterised in that the suturing device comprises further
an opening (<NUM>, <NUM>, <NUM>) formed in a wall of the clamshell body (<NUM>, <NUM>), wherein an end of the suture (<NUM>) is configured to extend through the opening (<NUM>, <NUM>, <NUM>) when the clamshell body (<NUM>, <NUM>) is in the closed position so that the suture (<NUM>) is accessible within the surgical site of the patient; and
a cartridge (<NUM>, <NUM>, <NUM>) configured to be positioned adjacent the suture retainer (<NUM>, <NUM>), wherein the suture (<NUM>) is configured to be wound around the cartridge (<NUM>, <NUM>, <NUM>) and to be pushed down the cartridge and onto the suture retainer to assist in positioning the suture (<NUM>) around the suture retainer (<NUM>, <NUM>).