An improved trocar device or instrument configured for single or multiple uses is disclosed. The improved trocar device has a novel flexible surgical assembly including an introducer component or a handle with scissor-like members with a channel formed within to accommodate a shaft component that slides within the channel. The introducer component may be squeezed or compressed to cause a locking mechanism to engage the shaft component to secure it and maintain it steady near the active area of the surgical procedure. The improved trocar device or instrument is coupled to a monitoring system for automatically monitoring the penetration route and behavior of the trocar device held by a robotic arm or a surgeon to assist either one with navigating the trocar shaft into a patient's body.

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.

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.

An instrument manipulator may comprise a frame comprising an outer shell and an inner frame, the inner frame being movably coupled to the outer shell. The instrument manipulator may also include a plurality of actuator outputs protruding in a distal direction from the frame and an instrument support feature coupled to the outer shell. The instrument manipulator may further comprise a latching mechanism, the latching mechanism being configured to move the inner frame, the outer shell, or both relative to one another, so as to operably engage the plurality of actuator outputs with a plurality of actuator inputs of an instrument supported by the instrument support feature.

Various exemplary methods, systems, and devices for near field communication (NFC) between a surgical instrument and a robotic surgical system are provided. In general, a surgical tool is configured to move between different modes of communication with a robotic surgical system to which the tool is releasably and replaceably coupled. The different modes of communication are detectable by the robotic surgical system by the tool's frequency of NFC with the robotic surgical system. The tool includes a mechanism configured to be manipulated by a user of the tool to move the tool between the different modes of communication. The tool operating in a first mode of communication indicates to the robotic surgical system that the tool is operating in a normal state. The tool operating in each of one or more additional modes of communication indicates that the tool is operating in an error state.

Certain aspects relate to systems and techniques for surgical robotic arm setup. In one aspect, there is provided a system including a first robotic arm configured to manipulate a medical instrument, a processor, and a memory. The processor may be configured to: determine a minimum stroke length of the first robotic arm that allows advancing of the medical instrument by the first robotic arm to reach a target region from an access point via a path, determine a boundary for an initial pose of the first robotic arm based on the minimum stroke length and a mapping stored in the memory, and during an arm setup phase prior to performing a procedure, provide an indication of the boundary during movement of the first robotic arm.

A robotic surgical system includes a controller, a surgical instrument supporting an end effector, and one or more connector members coupled to the end effector and movable to operate the end effector. Memory is operably coupled to the controller and is configured to maintain reference data of the one or more connector members. A sensor is secured to the one or more connector members and is disposed in electrical communication with the controller. The sensor is configured to register real-time data of the one or more connector members and communicate the real-time data to the controller. The controller is configured to compare the real-time data to the reference data and provide an output signal in response to a comparison of the real-time data to the reference data. A pair of connector members may be coupled to the end effector to impart three outputs.

The embodiments disclosed herein relate to various medical device components, including components that can be incorporated into robotic and/or in vivo medical devices. Certain embodiments include various modular medical devices for in vivo medical procedures.

A system and an apparatus for guiding an instrument may be provided, the apparatus comprising a main body; a holding member for holding an instrument, the holding member coupled to the main body; and one or more actuating members configured to effect movement of the holding member such that said movement of the holding member is capable of providing rotational movement of an instrument about a pivot point external the apparatus. The holding member may preferably be configured to co-operate with a compliance device, said compliance device capable of holding the instrument.