Robotic uterine manipulators with rollable sleeves
A uterine manipulator includes an elongated shaft, a colpotomy cup supported on the elongated shaft, a distal shaft extending distally from the colpotomy cup to a distal tip, and a rollable sleeve supported on the distal tip.
1 . A robotic uterine manipulator system comprising:
a robotic arm;
a fluid source; and
a uterine manipulator coupled to the robotic arm and the fluid source, the uterine manipulator including:
a colpotomy cup supported on an elongated shaft;
a distal shaft extending distally from the colpotomy cup to a distal tip; and
a sleeve covering a distal end of the distal tip, the sleeve in fluid communication with the fluid source and including a closed distal end portion supported on the distal tip of the distal shaft and a proximal end portion extending radially and proximally from the closed distal end portion, wherein the proximal end portion is rollable along the distal shaft relative to the closed distal end portion upon engagement of a radial portion of the proximal end portion with cervical tissue,
wherein the sleeve is movable from a first position in which the sleeve has a first length and a second position in which the sleeve has a second length, and
wherein the sleeve is elastic and configured to expand away from the distal shaft when the sleeve receives inflation fluid from the fluid source.
2 . The robotic uterine manipulator system of claim 1 , wherein the second length is longer than the first length.
3 . The robotic uterine manipulator system of claim 1 , wherein the proximal end portion is movable in a proximal direction relative to the distal end portion to elongate the sleeve.
4 . The robotic uterine manipulator system of claim 1 , wherein the sleeve is configured to coil and uncoil in response to relative movement between the distal end portion and the proximal end portion.
5 . The robotic uterine manipulator system of claim 1 , wherein the closed distal end portion elongates as the proximal end portion uncoils.
6 . The robotic uterine manipulator system of claim 1 , wherein the sleeve includes a polymeric material.
7 . The robotic uterine manipulator system of claim 1 , wherein the sleeve is frictionally constricted on the distal tip.
8 . The robotic uterine manipulator system of claim 1 , further comprising a drive mechanism operably coupled to the colpotomy cup.
9 . The robotic uterine manipulator system of claim 1 , wherein the sleeve includes an inflatable balloon.
10 . The robotic uterine manipulator system of claim 1 , wherein the sleeve is rollable and covers a distal end of the distal tip.
11 . The robotic uterine manipulator system of claim 10 , wherein the rollable sleeve includes a body having a closed distal end portion supported on the distal tip of the distal shaft.
12 . The robotic uterine manipulator system of claim 11 , wherein the body includes a proximal end portion extending radially and proximally from the closed distal end portion.