FDA does not require notification of minor design change. I would incorporate a process for reviewing changes for the need to submit a 510(k) into your design control/change procedure. Use the guidance document "Deciding When to Submit a 510(k)for a Change to an Existing Device" as the basis of the review. You can also review for the requirements for HC and Japan.
You may see this post and the attachment within to get a feel of what needs to be notified. As far as design goes, it needs to be assessed if the design change is significant to notify.
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