A trocar system includes a trocar assembly and a force sensor system. The trocar assembly includes a housing and an elongated cannula that extends from the housing. The force sensor system includes a force sensor supported on the trocar assembly, a control unit disposed in electrical communication with the force sensor, a processor, and a memory. The memory has instructions stored thereon, which when executed by the processor, cause the trocar system to sense, with the force sensor, a force applied through the trocar system, determine, with the control unit, if the force exceeds a predetermined threshold, and selectively output a signal through the control unit that indicates that the force exceeds the predetermined threshold.

A tissue guard for use with a surgical access device includes a body having a proximal end, a distal end and lumen defined therebetween. A proximal lip extends radially from the proximal end and is configured to mount atop a rim of an access device. The proximal lip includes an annular channel defined therein disposed in fluid communication with the lumen, the annular channel configured to direct surgical gases from the lumen to a smoke evacuation system. The annular channel includes a neck defined therein disposed between the lumen and the annular channel, the neck having geometry configured to induce the evacuation of surgical gases or smoke therethrough. One or more fingers extend from the proximal lip and are configured to engage an access device to secure the tissue guard thereon.

In some examples, a system includes a medical device comprising an elongate body configured to advance through layers of tissue of a patient, a lumen extending through the elongate body, a fluid line configured to supply fluid to the lumen, and a pressure sensor positioned within the lumen or the fluid line. The system may further include processing circuitry configured to receive, from the pressure sensor, a signal corresponding to the pressure of the fluid at each of a plurality of time points, determine, for each time point: a corresponding amplitude value of the signal, a difference between two amplitude values of the signal, an amplitude oscillation status of the signal, a position of the elongate body based on the difference and the amplitude oscillation status; and provide an indication of the position of the elongate body relative to the layers of tissue.

Tactile sensing devices, systems, and methods to image a target tissue location are disclosed. When force is applied to the tactile sensing device, voltage data is detected and visualized on a screen, indicating the target tissue location.

A safety mechanism is disclosed configured for shielding a distal tip of an elongate medical device. The safety mechanism includes a sheath having a body defining a lumen extending axially and including a shroud extending axially and having one or more sheath apertures disposed therethrough. The safety mechanism further includes a clip, comprising one or more arms, each including a tab, a plate, and a grip, the tab including a keyhole aperture. The first arm and the second arm configured to transition between a first configuration and a second configuration, and an elongate biasing member extending from the first arm to the second arm and configured to bias the first arm and the second arm towards the second configuration. Transitioning from the first configuration to the second configuration disengages the sheath from a needle hub and engages the sheath with a tip of the elongate medical device.

A tissue guard includes a body defining an open proximal end, an open distal end, and a lumen extending through the body between the open proximal end and the open distal end. A lip extends radially outwardly from the open proximal end of the body, the lip including a finger extending from an exterior peripheral surface thereof. The finger includes a flange at a distal end thereof adapted to operably engage an underside of a proximal ring of an access device to secure the tissue guard therein.

A surgical method includes arranging a plurality of suture needle containers in a surgical environment, whereby at least one of the suture needle containers includes a receptacle having a proximal end with an opening and a distal end that is closed by an end wall, a suture needle disposed within the receptacle, and a cover sealing the opening at the proximal end of the receptacle for maintaining a sterile environment for the suture needle inside the receptacle. The method includes causing a controller of a surgical robotic system to transmit input instructions to an electromechanical tool for breaching the cover for providing access to the suture needle disposed within the receptacle. After breaching the cover, a distal end of a surgical tool secures the suture needle for removing the secured suture needle from the opening at the proximal end of the receptacle.

A surgical system may include a conductive stylet with a distal end advanceable into bone material and a proximal end coupled to a stylet hub. A handle is non-removably attached to the stylet hub, and removably attachable to an insulative cannula hub. The cannula hub is non-removably attached to a conductive cannula that surrounds the stylet when the handle is attached to the proximal end of the insulative cannula hub. An outer insulative sheath is slideably engaged to insulative cannula hub, and has a radiopaque distal tip. An electrical signal source may be applied to the stylet hub to conduct a pedicle integrity assessment. The handle and stylet may be removed from the cannula assembly, leaving the cannula assembly in place at the surgical site.

Trocar components and methods of use are described, wherein the trocar components are configured to provide access to intraperitoneal space via the rectouterine pouch to surgical tools, which optionally include one or more surgical robot members. The surgical tools are optionally 5 mm or more in diameter. In some embodiments, a cannula part has a lumen sized to provide to a plurality of the surgical tools simultaneous transvaginal access to the intraperitoneal space via the rectouterine pouch. In some embodiments, an incision sized to receive a distal aperture of the cannula is created, optionally using one or two dilators. The dilators are sized to create (optionally starting from a puncture by a needle 2 mm in diameter or less) an oblong aperture. In some embodiments, the oblong aperture is at least twice as wide across a long diameter as across a short diameter.

According to one embodiment, a method includes positioning a portion of a trocar into a patient cavity and inserting a surgical instrument into the trocar. The method also includes measuring, by a pressure sensor disposed within the trocar, a pressure within the trocar. The measured pressure is indicative of a pressure in the patient cavity. The method also includes supplying, based at least in part on the measured pressure, an insufflation gas to the patient cavity by providing the insufflation gas through the trocar.