POWER OF ATTORNEY
For Executing Forms 3, 4 and 5
Know all persons by these presents, that the undersigned hereby constitutes and
appoints each of Joshua Weingard and Joseph P. Slattery, and each or either of
them, his true and lawful attorney-in-fact to:
(1)	prepare and/or execute for and on behalf of the undersigned, in the
undersigned's capacity as a director of TransEnterix, Inc. (the "Company"),
Forms 3, 4 and 5 to report transactions in the Company's securities reportable
by the undersigned in accordance with the provisions of Section 16(a) of the
Securities Exchange Act of 1934, as amended and the rules and regulations
promulgated thereunder;
(2)	do and perform any and all acts for and on behalf of the undersigned which
may be necessary or desirable to complete the preparation and execution of any
such Form 3, 4 or 5, and any amendment thereto, and the timely filing of any
such Form 3, 4 or 5, and any amendment thereto, with the United States
Securities and Exchange Commission and any other authority, it being understood
that the documents executed by such attorney-in-fact on behalf of the
undersigned pursuant to this Power of Attorney shall be in such form and shall
contain such terms and conditions as such attorney-in-fact may approve in his or
her discretion; and
(3)	resign as attorney-in-fact and appoint, as a replacement attorney-in-fact,
any employee of the Company's legal or finance department at the time of such
resignation; provided that such resigning and replacement attorneys-in-fact
shall send notice to the undersigned of any such replacement.
The undersigned hereby grants to each such attorney-in-fact full power and
authority to do and perform all and every act and thing whatsoever requisite,
necessary and proper to be done in the exercise of any of the rights and powers
herein granted, as fully to all intents and purposes as the undersigned might or
could do if personally present, with full power of substitution or revocation,
hereby ratifying and confirming all that such attorney-in-fact, or any
replacement attorney-in-fact, shall lawfully do or cause to be done by virtue of
this Power of Attorney and the rights and powers herein granted.  The
undersigned acknowledges that the foregoing attorneys-in-fact, and any
replacement attorneys-in-fact, in serving in such capacity at the request of the
undersigned, are not assuming, nor is the Company assuming, any of the
undersigned's responsibilities to comply with Section 16 of the Securities
Exchange Act of 1934, as amended or the rules and regulations promulgated
thereunder.
This Power of Attorney shall remain in full force and effect until the
undersigned is no longer required to file Forms 3, 4 and 5 with respect to the
undersigned's holdings of and transactions in securities issued by the Company,
unless earlier revoked by the undersigned in a signed writing delivered to the
foregoing attorneys-in-fact.
IN WITNESS WHEREOF, the undersigned has caused this Power of Attorney to be
executed as of this 30th of May, 2014.

/s/Richard C. Pfenniger
Signature

Richard C. Pfenniger
Print Name