Uterine manipulator including position sensor
A uterine manipulator includes a housing and a shaft extending distally from the housing. An end effector assembly is disposed at a distal end portion of the shaft. The end effector assembly includes a cervical cup and a uterine manipulating tip portion extending distally from the cervical cup. A position sensor is supported by the cervical cup. The position sensor is configured to identify a location of the cervical cup.
1. A uterine manipulator, comprising:
a housing;
a shaft extending distally from the housing;
an end effector assembly disposed at a distal end portion of the shaft, the end effector assembly including a cervical cup and a uterine manipulating tip portion extending distally from the cervical cup;
a position sensor supported by the cervical cup, the position sensor configured to identify a location of the cervical cup; and
at least one magnet supported by the cervical cup, the at least one magnet configured to attract a metal surgical tool to identify the location of the cervical cup.
2. The uterine manipulator of claim 1 , further including a vibrating element supported by the cervical cup, the vibrating element configured to initiate ureter peristalsis.
3. The uterine manipulator of claim 1 , further including a plurality of position sensors arranged at a distal end portion of the cervical cup.
4. The uterine manipulator of claim 3 , wherein the position sensors of the plurality of position sensors are arranged circumferentially around the distal end portion of the cervical cup.
5. The uterine manipulator of claim 3 , wherein the position sensors of the plurality of position sensors are arranged on a distal-facing surface of the cervical cup.
6. A uterine manipulator, comprising:
a housing;
a shaft extending distally from the housing;
an end effector assembly disposed at a distal end portion of the shaft, the end effector assembly including a cervical cup and a uterine manipulating tip portion extending distally from the cervical cup,
a fluorescent tag supported by the cervical cup, the fluorescent tag configured to emit light to identify a location of the cervical cup; and
a vibrating element supported by the cervical cup.
7. The uterine manipulator of claim 6 , wherein the emitted light is non-visible to humans.
8. The uterine manipulator of claim 6 , wherein the fluorescent tag is supported on a distal-facing surface of the cervical cup.
9. The uterine manipulator of claim 6 , wherein the fluorescent tag is arranged circumferentially around a distal-end portion of the cervical cup.
10. The uterine manipulator of claim 6 , wherein the fluorescent tag is passively fluorescent.
11. The uterine manipulator of claim 6 , wherein the fluorescent tag is reactively fluorescent.
12. The uterine manipulator of claim 6 , wherein the fluorescent tag includes a power source configured to activate the fluorescent tag.
13. A robotic system for operating a uterine manipulator, comprising:
at least one robot arm configured to operate a uterine manipulator; and
a display device configured to display images of a patient's anatomy overlaid with images of a position of the uterine manipulator relative to the patient's anatomy,
wherein the uterine manipulator includes:
a housing;
a shaft extending distally from the housing;
an end effector assembly disposed at a distal end portion of the shaft, the end effector assembly including a cervical cup and a uterine manipulating tip portion extending distally from the cervical cup; and
a position sensor supported by the cervical cup, the position sensor configured to identify a location of the cervical cup;
a pad including a plurality of external position sensors, the pad configured to be positioned under the patient, and the pad configured to detect a location of the position sensor supported by the cervical cup.
14. The system of claim 13 , wherein the images of the patient's anatomy are CT scan images.
15. The system of claim 13 , further including a surgical grasping tool supporting a second position sensor, the second position sensor configured to identify a location of the surgical grasping tool.
16. The system of claim 13 , further including a position sensing scope configured to detect a position of the position sensor supported by the cervical cup.
17. The uterine manipulator of claim 13 , further including at least one magnet supported by the cervical cup.
18. A uterine manipulator, comprising:
a housing;
a shaft extending distally from the housing;
an end effector assembly disposed at a distal end portion of the shaft, the end effector assembly including a cervical cup and a uterine manipulating tip portion extending distally from the cervical cup;
a position sensor supported by the cervical cup, the position sensor configured to identify a location of the cervical cup; and
a vibrating element supported by the cervical cup, the vibrating element configured to initiate ureter peristalsis.
19. A robotic system for operating a uterine manipulator, comprising:
at least one robot arm configured to operate a uterine manipulator;
a display device configured to display images of a patient's anatomy overlaid with images of a position of the uterine manipulator relative to the patient's anatomy,
wherein the uterine manipulator includes:
a housing;
a shaft extending distally from the housing;
an end effector assembly disposed at a distal end portion of the shaft, the end effector assembly including a cervical cup and a uterine manipulating tip portion extending distally from the cervical cup; and
a position sensor supported by the cervical cup, the position sensor configured to identify a location of the cervical cup; and
a surgical grasping tool supporting a second position sensor, the second position sensor configured to identify a location of the surgical grasping tool.
20. A robotic system for operating a uterine manipulator, comprising:
at least one robot arm configured to operate a uterine manipulator;
a display device configured to display images of a patient's anatomy overlaid with images of a position of the uterine manipulator relative to the patient's anatomy,
wherein the uterine manipulator includes:
a housing;
a shaft extending distally from the housing;
an end effector assembly disposed at a distal end portion of the shaft, the end effector assembly including a cervical cup and a uterine manipulating tip portion extending distally from the cervical cup; and
a position sensor supported by the cervical cup, the position sensor configured to identify a location of the cervical cup; and
at least one magnet supported by the cervical cup.