Implementations of a uterine manipulator operable to detach the uterus and cervix from the vagina are presented. The uterine manipulator can include a shaft, a handle, a tip assembly, and a cutting assembly.

In a robotic surgical system, an organ manipulation device such as a uterine manipulator with a colpotomy cup is positionable on a first robotic manipulator while a surgical instrument is positionable on a second robotic manipulator. During the course of surgery, a user inputs instructions to the robotic surgical system to cause movement of the organ manipulator and surgical instrument.

Intrauterine devices and methods for facilitating deployment thereof using a bumper are disclosed. In one embodiment, an intrauterine device comprises a structure including a first central support member and a deployment mechanism coupled to the first central support member. The intrauterine device further comprises a bumper positioned at a distal end of a second central support member and at a more distal position relative to a distal end of the structure so as to prevent the distal end of the structure from contacting the fundus of the uterus of a patient during deployment of the deployment mechanism. In another embodiment, the intrauterine device comprises a bumper coupled to the deployment mechanism and configured to move from a more distal to a more proximal position relative to a distal end of the structure.

Intrauterine devices and methods for facilitating deployment thereof using a bumper are disclosed. In one embodiment, an intrauterine device comprises a structure including a first central support member and a deployment mechanism coupled to the first central support member. The intrauterine device further comprises a bumper positioned at a distal end of a second central support member and at a more distal position relative to a distal end of the structure so as to prevent the distal end of the structure from contacting the fundus of the uterus of a patient during deployment of the deployment mechanism. In another embodiment, the intrauterine device comprises a bumper coupled to the deployment mechanism and configured to move from a more distal to a more proximal position relative to a distal end of the structure.

A device for applying a compressive force to the uterus, the device comprising a contact portion for contacting the uterus and providing a compressive force thereto, and at least two elongate handles each extending from the contact portion along a respective longitudinal axis. The at least two elongate handles are configured to facilitate insertion of the device into the body and handling of the device from outside the body when inserted. At least a part of the contact portion is configured to be radially moveable relative to the longitudinal axes between a first radial position and a second radial position where the second radial position is radially outward of the first radial position.

A sheath for inserting a cannula of an endoscope into a cavity of a patient is described herein. The sheath comprises an introducer, a support channel and a pull-tab. The introducer has an open end being sized and shaped to accept a tip of the cannula and a tip end adapted to be deflected in an outward direction by the tip of the cannula passing into the introducer. The support channel is adapted to receive a shaft of the cannula and guide the tip of the cannula into the introducer; and the pull provides a finger hold for a user to grasp the sheath. In some aspects, the introducer includes a plurality of extending segments having a normally closed position defining a conical exterior shape of the introducer, with the plurality of tapered segments adapted to be separated by the tip of the cannula passing through the introducer.

A uterine manipulator includes a handle and a central shaft that extends distally from the handle. The central shaft includes a distal end portion supporting a balloon. The central shaft also supports a cervical cup. An occluder shaft is slidably supported on the central shaft. A non-inflatable plug is secured to the occluder shaft and configured to move with the occluder shaft as the occluder shaft slides along the central shaft.

A uterine manipulator device includes: an elongated cannulated tube comprising a proximal end and a distal end; a cervical cup having a top proximal portion of a first diameter and a base distal portion of a second smaller diameter, wherein: the base distal portion includes a hole formed therein having a perimeter including a distal end and a proximal end, and including a longitudinal axis positioned therethrough; one of the proximal end of the perimeter and the distal end of the perimeter is angled away from the longitudinal axis and the other of the proximal end of the perimeter and the distal end of the perimeter is in line with the longitudinal axis; and the elongated cannulated tube is positioned through the hole in the cervical cup.

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.

A specimen retrieval system is disclosed. The specimen retrieval system includes a first hollow tube including one or more cutting elements on a first end of the first hollow tube, a first gear on a second end of the first hollow tube, a second hollow tube movable relative to the first hollow tube a second gear on a first end of the second hollow tube, a rack coupled to the first gear and the second gear, and a first actuator coupled to the rack. A second end of the second hollow tube may include cutting elements. The specimen retrieval system also includes a rack coupled to the first gear on the first hollow tube and the second gear on the second hollow tube. The specimen retrieval system may also include a geared tenaculum disposed inside the first hollow tube, and a second actuator coupled to the geared tenaculum.