I had out-of-town family come to help, who stayed a week - long enough to get the cath out. Since my apartment is tiny, they stayed at a nearby residence hotel, so in reality were only around in the daytime. I live alone, and at the time had few close friends near enough to help.
I had DaVinci, but was kept in the hospital for 4 days (so much for the get out quick idea). That was actually a good thing looking back.
I had the same 5-pound lift limit, almost three months. I was not allowed to drive until almost 4 weeks after surgery, and the first trip out was almost unmanageable. I did beg rides to the grocery store when needed, and if I just had to be in the office, someone would drop by and give me a ride.
I had overstocked the pantry just in case I couldn't get out, which turned out to be a good move. The great folks at my huge chain, but friendly local, grocery store dropped off the fresh essentials a couple of times when I couldn't find a ride.
Cooking was an issue - the Dr. advised me to stay away from knives and heat sources, since the pain meds made me almost senseless to minor pain. Once my cath was out, my neighbors were having me over for dinner so that I could avoid the kitchen, or would bring things "ready to eat". After I got off the pain meds, I was back to my normal routine.