Methods, systems and devices for evaluating the integrity of a uterine cavity. A method comprises introducing transcervically a probe into a patient's uterine cavity, providing a flow of a fluid (e.g., CO.sub.2) through the probe into the uterine cavity and monitoring the rate of the flow to characterize the uterine cavity as perforated or non-perforated based on a change in the flow rate.

A system includes a robotic platform and a uterine manipulator. The robotic platform includes a base, a plurality of robotic arms, and a grounding structure configured to couple one or more of the robotic arms to the base. The uterine manipulator includes an interface configured to couple with a first robotic arm of the robotic platform. The uterine manipulator further includes a shaft assembly extending from the interface and a colpotomy cup slidably attached along a length of the shaft assembly. The first robotic arm is configured to move the uterine manipulator relative to a patient.

An apparatus includes a base portion configured to selectively couple with a robotic arm. A shaft extends distally form the base portion and terminates into a distal end. A sleeve is slidably coupled to the shaft. A colpotomy cup is fixedly secured to a portion of the sleeve. One or more sensors are configured to detect a force applied to the sleeve, the shaft, or both the sleeve and the shaft.

An apparatus includes a shaft including a distal shaft end. The apparatus also includes a sleeve slidably coupled to the shaft. The sleeve includes a distal sleeve end. The apparatus further includes a colpotomy cup fixedly secured to the distal sleeve end, and an inflatable balloon positioned over the shaft near the distal shaft end such that the inflatable balloon is configured to manipulate an anatomical structure via movement of the shaft. The apparatus also includes at least one sensor configured to detect at least one of a fluid pressure within the inflatable balloon or a force acting upon the inflatable balloon. The at least one sensor is configured to generate at least one feedback signal based on the detected at least one of a fluid pressure or a force.

A system includes a uterine manipulator having a shaft. The uterine manipulator is coupled with the robotic arm. An imaging instrument is operable to provide an image of an exterior of the uterus of the patient. A console includes a display screen and is configured to provide a view from the imaging instrument of the exterior of the uterus of the patient, on the display screen. The console is further configured to provide an indicator on the view from the imaging instrument, on the display screen, the indicator indicating a location of a predefined anatomical structure, the indicator being provided as an overlay on the predefined anatomical structure.

An apparatus includes a modular colpotomy cup component and a modular shaft component. The modular colpotomy cup component includes a proximal base, an elongated sleeve, an expanding member, and a colpotomy cup. The proximal base is configured to couple to a distal end of a head of a robotic arm. The modular shaft component includes a coupling body and an elongated shaft. The coupling body is configured to couple to the head of the robotic arm such that the modular shaft component and the modular colpotomy cup component are attached to each other via the head of the robotic arm. The elongated shaft extends distally from the coupling body and is configured to be inserted through the opening of the proximal base such that the coupling body is configured to couple to the head of the robotic arm.

A system includes a uterine manipulator having a shaft. The uterine manipulator is coupled with a robotic arm. An imaging instrument is operable to provide an image of an exterior of the uterus of the patient. A user input feature is configured to transition between an engaged state and a non-engaged state. In the engaged state, the user input feature is operable to control movement of the robotic arm to thereby drive movement of the uterine manipulator. A console includes a display screen and is configured to provide a view from the imaging instrument of the exterior of the uterus of the patient, on the display screen. The console is further configured to provide an indicator on the view from the imaging instrument, on the display screen, the indicator indicating whether the user input feature is in the engaged state or the non-engaged state.

An apparatus includes a base portion configured to selectively couple with a robotic arm. A shaft extends distally form the base portion and terminating into a distal end. A sleeve is slidably coupled to the shaft. A colpotomy cup is fixedly secured to a portion of the sleeve. A plurality of sensors are configured to locate the position of the sleeve relative to one or more anatomical features of a patient. The sensors are further configured to locate the position of the sleeve relative to the shaft.

A living cell transplanting device has a flexible tube capable of accommodating living cells and a cell pushing shaft inserted into the tube. The tube has a lumen penetrating therethrough and a reduced diameter front end open portion. The shaft has a small diameter end portion having a diameter smaller than that of the reduced diameter front end open portion and an enlarged diameter portion having an outer diameter larger than an inner diameter of reduced diameter front end open portion. Owing to contact between the enlarged diameter portion of the shaft and the reduced diameter front end open portion of the tube, a progress of the shaft is regulated. By pushing the shaft into the tube after the contact between the enlarged diameter portion and the reduced diameter front end open portion finishes, the enlarged diameter portion of the shaft passes through said reduced diameter front end open portion with expanding the reduced diameter front end open portion of the tube and projects beyond the reduced diameter front end open portion of the tube.

An end effector assembly of a tissue-resecting device includes an outer shaft defining a window, a drive wire extending through the outer shaft, and a distal cutting tip disposed within the outer shaft. The drive wire includes a cylindrical body and a distal end portion defining a semi-cylindrical configuration including a semi-cylindrical bottom surface and a planar top surface having a semi-cylindrical cut-out defined therein. The distal cutting tip at least partially overlaps the window and has a semi-cylindrical lumen defined by a semi-cylindrical bottom surface and an open top. The distal end portion of the drive wire is at least partially received and within the semi-cylindrical lumen with the semi-cylindrical surfaces substantially mating. The drive wire is configured to drive rotation or oscillation of the distal cutting tip relative to the outer shaft.