Robotically controlled uterine manipulator
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.
1 . A system, comprising:
(a) a robotic platform, including:
(i) a base,
(ii) a plurality of robotic arms, and
(iii) a grounding structure configured to couple one or more of the robotic arms to the base; and
(b) a uterine manipulator, including:
(i) an interface configured to couple with a first robotic arm of the robotic platform,
(ii) a shaft assembly extending from the interface,
(iii) a colpotomy cup slidably attached along a length of the shaft assembly, and
(iv) a lock ring concentric with the shaft and axially fixed with the colpotomy cup, in both a locked and unlocked state,
wherein rotation of the lock ring about an axis concentric with the shaft to a first angular position provides the unlocked state and rotation of the lock ring about an axis concentric with the shaft to a second angular position provides the locked state.
2 . The system of claim 1 , the robotic platform further including a patient table, wherein the grounding structure is positioned proximate a side of the patient table.
3 . The system of claim 1 , wherein the grounding structure includes an elongate rail, wherein the first robotic arm is slidably disposed on the elongate rail.
4 . The system of claim 3 , wherein the grounding structure is configured to robotically move the first robotic arm along a length defined by the grounding structure.
5 . The system of claim 3 , wherein the grounding structure is configured to permit the first robotic arm to be moved manually along a length defined by the grounding structure.
6 . The system of claim 1 , wherein the grounding structure is configured to move relative to the patient table.
7 . The system of claim 1 , wherein the grounding structure is configured to support the plurality of robotic arms relative to a patient with the robotic arm being positioned over a leg of the patient with the robotic arm approaching the patient from a lateral side of the patient.
8 . The system of claim 1 , wherein the grounding structure is configured to support the plurality of robotic arms relative to a patient with the robotic arm being positioned under a leg of the patient with the robotic arm approaching the patient from a lateral side of the patient.
9 . The system of claim 1 , wherein the robotic platform further includes a console and an operator interface feature, wherein the operator interface feature is separate from the console.
10 . The system of claim 9 , wherein the operator interface feature includes one or more robotic control buttons configured to initiate movement of the first robotic arm.
11 . The system of claim 9 , wherein the operator interface feature is incorporated into at least a portion of the first robotic arm.
12 . The system of claim 9 , wherein the operator interface feature includes a wearable robotic user interface.
13 . The system of claim 9 , wherein the operator interface feature includes one or more multi-axis control pads.
14 . The system of claim 9 , wherein the operator interface feature includes a haptic feedback device.
15 . The system of claim 1 , wherein the robotic platform further includes a second robotic arm, wherein the second robotic arm is configured to support one or more endoscopic or laparoscopic instruments.
16 . The system of claim 1 , wherein the colpotomy cup has first state the first state permitting movement along the shaft and a second state, the second state preventing movement along the shaft.
17 . The system of claim 16 , wherein the lock ring has a first rotational position that corresponds to the first state, and a second rotational position that corresponds to the second state.
18 . The system of claim 17 , wherein the lock ring is concentric with the shaft in both the first and second rotational positions.