System and method to measure uterine wall thickness

A robotic surgical system, comprising:

• (a) a control console;
• (b) a laparoscopic instrument, wherein the laparoscopic instrument comprises a first proximity sensor element;
• and
• (c) a uterine manipulator, wherein the uterine manipulator comprises:
• (i) a base, and
• (ii) a shaft extending distally from the base, wherein the shaft comprises:
• (A) a distal end dimensioned to be inserted into a uterus of a patient,
• (B) a second proximity sensor element located at the distal end, and,
• (C) a force sensor located at the distal end of the shaft, wherein the force sensor is in communication with the control console,
• wherein the first proximity sensor element and the second proximity sensor element are configured to cooperatively generate a distance signal,
• wherein the control console is configured to receive the distance signal from either the first proximity sensor element or the second proximity sensor element and calculate a corresponding distance between the first proximity sensor element and the second proximity sensor element,
• wherein the control console is configured to generate an alert signal when the corresponding distance is smaller than a predetermined distance,
• wherein the control console is configured to calculate the predetermined distance utilizing at least one measured parameter,
• wherein the at least one measured parameter comprises a force signal generated by the force sensor.

A robotic surgical system, comprising:

• (a) a control console;
• (b) a laparoscopic instrument, wherein the laparoscopic instrument comprises a first proximity sensor element;
• and
• (c) a uterine manipulator, wherein the uterine manipulator comprises:
• (i) a base, and
• (ii) a shaft extending distally from the base, wherein the shaft comprises:
• (A) a distal end dimensioned to be inserted into a uterus of a patient, and
• (B) a second proximity sensor element located at the distal end, and,
• wherein the first proximity sensor element and the second proximity sensor element are configured to cooperatively generate a distance signal,
• wherein the control console is configured to receive the distance signal from either the first proximity sensor element or the second proximity sensor element and calculate a corresponding distance between the first proximity sensor element and the second proximity sensor element,
• wherein the control console is configured to generate an alert signal when the corresponding distance is smaller than a predetermined distance,
• wherein the control console is configured to calculate the predetermined distance utilizing at least one measured parameter,
• wherein the at least one measured parameter comprises a uterine wall thickness measured by the first proximity sensor element and the second proximity sensor element.