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 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, a shaft, a colpotomy cup, and a colpotomy cup actuation assembly. The colpotomy cup is slidably attached along a length of the shaft and is configured to actuate along the shaft between a proximal position and a distal position. The a colpotomy cup actuation assembly is configured to drive the colpotomy cup between a proximal position and a distal position. The colpotomy cup actuation assembly includes an actuating assembly configured to operatively couple with a drive output of a robotic arm. The colpotomy cup actuation assembly further includes an elongated member extending distally from the actuating assembly and terminating into a distal end fixed relative to the colpotomy cup. The actuating assembly is configured to drive movement of the elongated member relative to the elongated shaft to thereby drive movement of the colpotomy cup between the proximal position and the distal position.

An apparatus includes a shaft including a distal shaft end. At least a portion of the shaft defines a first axis. 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 a movable member extending distally from the distal shaft end. The movable member is configured to move relative to the shaft between a first state in which the movable member extends substantially along the first axis and a second state in which the movable member extends at least partially along a second axis transverse to the first axis for manipulating an anatomical structure.

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.