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

Pre-Operative Inclusion Criteria:

1. Age 22 years or older

2. ASA ≤ 3

3. The clinical decision has been made to perform multi-port robotic assisted surgerywith da Vinci 5 with Force Feedback instruments for the study specified procedure asprimary procedure prior to enrollment in the study

4. Subject or a legally authorized representative is able to provide written informedconsent using the study informed consent form prior to the study

5. Subject is willing and able to comply with the study protocol requirements includingfollow up schedule

Pre-operative Exclusion Criteria:

• Subject receiving an emergent procedure

• Subject planned to undergo major concomitant surgery for the treatment of adifferent medical condition than was originally planned

• Subject with previous ipsilateral surgery (open, endoscopic or robotic) with thesame surgical indication

• Subject with past or ongoing medical conditions (for example: inflammatory boweldisease) which, in the judgment of the Investigator, puts them at high risk forsurgery 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 ofthe Investigator, might interfere with the collection of complete quality data

• Subject is currently participating in or has participated in a study of aninvestigational agent or a significant risk investigational device study within thepast 6 months

• Subject belongs to a vulnerable population.

• Subject is contraindicated for anesthesia or surgery.

• Subject has had previous neoadjuvant therapy, previous chemotherapy, immunotherapy,and/or radiation therapy for the treatment of the cancer to be resected within thepast 6 months

Intra-operative Exclusion Criteria

• Subject with hemodynamic or respiratory instability, which precludes theInvestigator from performing the RAS.

• Subject in whom inadequate visualization makes a minimally invasive approach notfeasible, as determined from the investigator assessment prior to docking the robot.

• Subject with adhesions, scarring and disease status in the body which in the opinionof the investigator limits the ability to perform the minimally invasive procedure.