Patent ID: 7588583

Claim:
A suturing method comprising: inserting a distal portion of a suturing needle distally through a tissue by moving a body of a suturing device while a first clamp of the suturing device holds the needle at a fixed location relative to the body; grasping the distal portion of the needle with a second clamp of the suturing device; releasing the proximal portion of the needle from the first clamp; wherein grasping and releasing of the clamps is effected by moving a handle between a first configuration relative to the body and a second configuration relative to the body, movement of the handle from the first configuration to the second configuration and back to the first configuration defining a handle actuation cycle, each handle actuation cycle alternating a configuration of an alternatable drive element of a linkage between a first configuration and a second configuration; pulling the proximal portion of the needle through the tissue by moving the body while the second clamp holds the needle; repeating the handle actuation cycle after pulling the needle from the tissue; and repeating the handle actuation cycle after again inserting the needle into the tissue and before again pulling the needle from the tissue; wherein each handle actuation cycle initiated with the alternatable drive element in the first configuration causes the alternatable drive element to drive a first linkage portion coupled to the first clamp so that the first clamp grasps the needle and causes the needle to be released from the second clamp, and wherein each handle actuation cycle initiated with the alternatable drive element in the second configuration causes the alternatable drive element to drive a second linkage portion coupled to the second clamp so that the second clamp grasps the needle and causes the needle to be released from the first clamp, such that the needle alternates between being supported by the first clamp and being supported by the second clamp with each handle actuation cycle.