Patent ID: 8892259

Claim:
A robotic surgical system for performing a surgical procedure within the body of a subject, the robotic surgical system comprising: an elongate surgical instrument having a proximal end portion and a distal end portion; a robotic controller configured to control the motion of the distal end portion of the surgical instrument; and a mechanomyography feedback system in communication with the robotic controller, the mechanomyography feedback system including: an elongate sphincter contraction sensor including: an elongate device body configured to be inserted within a sphincter of the subject; and a force sensor in mechanical communication with the elongate device body and configured to provide a mechanomyography output signal in response to a contact force applied against the elongate device body by the sphincter; a processor configured to: receive the mechanomyography output signal; determine if the received mechanomyography output signal is indicative of an induced sphincter response that is attributable to the elongated surgical instrument; and provide a control signal to the robotic controller if an induced sphincter response is detected.