Method and apparatus for organ manipulation using a surgical robotic system

Abstract

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.

What is claimed is: 
     
         1 . A surgical robotic system comprising:
 a plurality of robotic manipulator arms;   an organ manipulator on a first one of the robotic manipulator arms;   a surgical instrument on a second one of the robotic manipulator arms; and   user input devices allowing a surgeon to input instructions to the robotic surgical system to cause movement of the organ manipulator and surgical instrument in response to the instructions.   
     
     
         2 . The system of  claim 1 , wherein the system includes a user console and the user input devices include a first input handle and a second input handle, the robotic surgical system configured such that input to the first input handle results in movement of the organ manipulator and input to the second input handle results in movement of the surgical instrument. 
     
     
         3 . The system of  claim 1 , wherein the system includes a first input handle, the robotic surgical system configured such that the first input handle is selectively paired with a first one of the robotic arms such that input to the first input handle results in movement of the organ manipulator, and selectively paired with a second one of the robotic arms such that input to the first input handle results in movement of the surgical instrument. 
     
     
         4 . The system of  claim 2  wherein movement of the organ manipulator is laparoscopic movement relative to a fulcrum. 
     
     
         5 . The system of  claim 4 , wherein the surgical system is configured to determine the fulcrum about an anatomical feature. 
     
     
         6 . The system of  claim 5 , wherein the anatomical feature is an incision site. 
     
     
         7 . The system of  claim 5 , wherein the anatomical feature is a natural orifice. 
     
     
         8 . The system of  claim 7 , wherein the organ manipulator is a uterine manipulator and the natural orifice is a vaginal opening.