A Study to Understand the Utility of the Force Feedback Instruments in Robotic Procedures Using da Vinci 5 Robot

Pre-Operative Inclusion Criteria:

• Age 22 years or older
• ASA ≤ 3
• The clinical decision has been made to perform multi-port robotic assisted surgery with da Vinci 5 with Force Feedback instruments for the study specified procedure as primary procedure prior to enrollment in the study
• Subject or a legally authorized representative is able to provide written informed consent using the study informed consent form prior to the study
• Subject is willing and able to comply with the study protocol requirements including follow up schedule

Pre-operative Exclusion Criteria:

• Subject receiving an emergent procedure
• Subject planned to undergo major concomitant surgery for the treatment of a different medical condition than was originally planned
• Subject with previous ipsilateral surgery (open, endoscopic or robotic) with the same surgical indication
• Subject with past or ongoing medical conditions (for example: inflammatory bowel disease) which, in the judgment of the Investigator, puts them at high risk for surgery and not appropriate for the study
• Subject is pregnant or suspected to be pregnant or breastfeeding
• Subject has any other condition or personal circumstance that, in the judgment of the Investigator, might interfere with the collection of complete quality data
• Subject is currently participating in or has participated in a study of an investigational agent or a significant risk investigational device study within the past 6 months
• Subject belongs to a vulnerable population.
• Subject is contraindicated for anesthesia or surgery.

Intra-operative Exclusion Criteria

• Subject with hemodynamic or respiratory instability, which precludes the Investigator from performing the RAS.
• Subject in whom inadequate visualization makes a minimally invasive approach not feasible, as determined from the investigator assessment prior to docking the robot.
• Subject with adhesions, scarring and disease status in the body which in the opinion of the investigator limits the ability to perform the minimally invasive procedure.