A Needle Containment Assistant Device for Robot surgeries. The device has an inner tube, an outer sheath, over the inner tube, and placed over the inner tube such that the inner tube can move relative to the outer sheath, a securing device, which allows securing the inner tube to the outer sheath, when the inner tube is at a desired location relative to the outer sheath wherein, when secured by the securing, the inner tube becomes in movable relative to the outer sheath. A needle holding device, has a central hole, where the inner tube passes through the central hole, the needle holding device having a cup shaped needle holding portion, adapted for holding needles therein.

A surgical apparatus for insertion into an annular orifice of an animal body (e.g., vaginal orifice) to provide cavity access to a cavity while maintaining pneumoperitoneum that includes an expandable member, like an outer bladder or balloon like structure (similar to a pessary), surrounding a central structural member, that typically would be ring shaped and a flexible opening or penetrable port, similar to an elastomeric duck bill valve, affixed within an interior of said central structural member, through which an instrument or device may be inserted to provide surgical access to the cavity. The penetrable port may be of an active or passive configuration where, in the active configuration, it can be expanded to conform to the instruments. In the passive form, the penetrable port is comprised of an elastomeric or similar material that is fixed in shape and conformably flexes and seals to the instrument maintaining pneumoperitoneum.

This invention relates generally to a medical device, and more specifically, to a vaginal surgical apparatus. In one embodiment, an apparatus includes, a vaginal manipulator probe that is at least partly insertable into a vagina, the vaginal manipulator probe including an end portion that includes a bullous tip and that includes a space that accommodates a cervix therewithin; and at least one prominence incorporated with the vaginal manipulator probe operable to assist with identifying one or more positions of at least one anatomical structure or orienting the vaginal manipulator probe.

Embodiments disclose uterine manipulators, dye delivery systems and fornix delineators that address several issues, such as minimizing surgical error, minimizing loss of parts inside a patients, enabling easy manipulation of a patient's anatomy, securing and removing the device into and from the patient atraumatically, preventing loss of pnuemoperitoneum, and securing the device fastener and components efficiently and atraumatically. An embodiment includes a uterine manipulator having a fornix delineator, uterine shaft, outer tube, fastener, handle, inlet, tip, ring and connecting string, and/or occluder.

The present invention provides, in various embodiments, systems and methods for robotic manipulation of a patient's anatomy, such as the uterus, during minimally invasive surgical procedures.

A fornix manipulator includes a collar and stabilizer. The collar has a first end and a second end, the second end having an opening and diameter greater than the first end and the first end having an opening to receive a cervix into the collar. The stabilizer has a base portion defining a guide hole and a plurality of prongs extending from the base portion to contact the first end of the collar.

Embodiments systems and methods for a platform that is configured to hold a medical device. In embodiments, a physician, nurse, medical practitioner, etc. may perform actions to change the positioning and orientation of the medical device while the medical device is secured to the platform. In further embodiments, the platform may include robotic components configured to change the positioning and orientation of the medical device.

In various embodiments of the invention, a manipulator attaches to and allows a sheath to be positioned inside the cervix and a catheter to thereby be inserted through the sheath and be positioned in a desired location in the uterus. In various embodiments of the invention, the manipulator may be attached or permanently connected to the sheath. In various embodiments of the invention, the sheath is fenestrated to allow the catheter to be detached from the sheath. In various embodiments of the invention, the manipulator allows the sheath to be positioned through the cervix canal to allow for catheter transmitted intrauterine pressure monitoring or balloon catheter assisted ripening of the cervix.

A teleoperational medical system comprises an input device and a manipulator configured to couple with and move an instrument. The system also comprises a control system including one or more processors. In response to a determination that the instrument is inserted into an instrument workspace in a corresponding direction to a field of view of the workspace, the control system is configured to map movement of the input device to movement of the instrument according to a first mapping. In response to a determination that the instrument is inserted into the instrument workspace in a non-corresponding direction to the field of view, the control system is configured to map movement of the input device to movement of the instrument according to a second mapping. The second mapping includes an inversion of the first mapping for at least one direction of motion of the instrument.

A uterine manipulator can include a shaft including a first end, a second end, and a channel along an axis of the shaft, a handle coupled to the first end of the shaft, and a triangular balloon coupled to the second end of the shaft. The triangular balloon can be configured to inflate upon insertion into a vagina via a fluid injected into the channel of the shaft.