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.

An inflatable system for cervical dilation and labor induction includes a uterine balloon, for positioning at a proximal portion of the uterus, adjacent to the cervical internal os, the uterine balloon being shaped to maximize the pressure against the decidua and the internal cervical os and to minimize the pressure on the fetal head. The inflatable system may have a vaginal balloon, for positioning in the vagina, for applying pressure on the external cervical os. The inflatable system may measure the pressure changes inside the balloon. The inflatable system may have electrodes for measuring the electrical activity of the fetal heart, the maternal heart and the uterine pressure activity and or uterine contractility and or labor progress. The inflatable system may measure cervical dilation, fetal well-being, and the woman's conditions.

An intrauterine balloon apparatus to augment uterine birthing forces and assist fetal descent during parturition is provided. The body of the balloon apparatus begins packaged in a compressed state minimizing volume, enabling delivery through the birth canal. The apparatus is advanced to a proximal uterine location and deployed for operation by introducing a pressurized agent through its conduit, causing the body to expand and apply directional forces towards the infant and birth canal. The balloon body is shaped to apply pressures dispersed towards the infant and the bidirectional conduit enables fluid conduction as the infant descends. After the infant has successfully descended and been delivered through the birth canal, pressure within the balloon body is relieved through the conduit thereby collapsing the volume of the balloon body and enabling retraction through the birth canal.

An access port for sealing an opening of a natural orifice and supplying access to a body cavity through the natural orifice including: a sealing unit; an unobstructed single lumen cannula extending to the body cavity; a connector connecting the cannula to the sealing unit; an access opening through the sealing unit to the single lumen; a cap including a plurality of cap openings configured to seal between medical instruments inserted into the openings and the access opening.

A uterine manipulator can include a shaft including a first end, a second end, and embodiments of a cutting head configured and arranged to receive a cervix. The cutting head can be configured and adapted to be used to cut the tissue joining the vaginal wall to the cervix and uterus to facilitate removal of the uterus in a minimally invasive manner.

A uterine manipulator can include a shaft including a first end, a second end, and embodiments of a cutting head configured and arranged to receive a cervix. The cutting head can be configured and adapted to be used to cut the tissue joining the vaginal wall to the cervix and uterus to facilitate removal of the uterus in a minimally invasive manner.

A medical insertion device may include a handle including a proximal portion, an intermediate portion, and a distal portion. A delivery shaft may be coupled to a distal most end of the distal portion of the handle. The handle may further include a deflection lever, and a hub for introduction of a medical device, the hub and the deflection lever both being located in the proximal portion of the handle.

A uterine manipulator device useful for laparoscopic hysterectomy procedures or other minimally-invasive gynecologic procedures.

A uterine manipulator includes a body defining proximal and distal end portions, a handle operably coupled to the proximal end portion, an end effector assembly operably coupled and configured to articulate relative to the distal end portion, and a force sensor configured to measure a force indicative of a torque required to articulate the end effector assembly relative to the distal end portion of the body. A method of transcervically determining uterine mobility includes transcervically positioning a surgical instrument such that an end effector assembly of the surgical instrument extends into a uterus, articulating the end effector assembly relative to a body of the surgical instrument to thereby move the uterus, and measuring a force indicative of a torque required to move the uterus.

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.