Robotic Tissue Retractors With Balanced Force Feedback
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Solution Overview
Problem
Existing surgical retractors, both manual and automated, face challenges in maintaining equal retraction forces on both sides of a surgical incision, leading to potential tissue damage and misalignment with anatomical landmarks, which can result in serious procedural errors.
Innovation Solution
A robotic system with bilateral retractors equipped with force sensors and tracking sensors ensures equal and opposite retraction forces on either side of the incision, using robotic arms to maintain the position of tissues relative to the initial incision, preventing tissue damage and maintaining registration with the surgical plan.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If automated control of surgical retractor positioning is implemented, then positioning precision is improved, but tissue damage risk increases due to excessive pressure
Solution Approach 1:
The system incorporates force sensors on each retractor element that provide real-time feedback to the controller. The controller adjusts the robotic arm positions based on this feedback to maintain equal and opposite forces, preventing excessive pressure on the tissue while achieving precise positioning.
Solution Approach 2:
The system dynamically adjusts the retraction force parameters based on tissue response. By monitoring the forces applied and adjusting them in real-time, the system maintains optimal pressure levels that prevent tissue damage while achieving the necessary retraction for surgical access.
2Object-affected harmful factors
If manual retraction positioning is used, then tissue damage risk is reduced, but positioning precision deteriorates leading to misalignment with anatomical landmarks
Solution Approach 1:
The system uses self-correcting mechanisms where the force sensors and controller work together to automatically maintain equal retraction forces. This eliminates the need for constant manual adjustment while preventing misalignment, as the system self-regulates to keep the surgical field properly positioned relative to anatomical landmarks.
3Ease of operation
If unequal retraction forces are applied on both sides of the incision, then ease of operation is improved, but alignment precision deteriorates causing misalignment with anatomical landmarks
Solution Approach 1:
The system deliberately applies asymmetric control strategies to achieve symmetric outcomes. By independently controlling each robotic arm based on real-time force feedback, the system can compensate for tissue compliance differences and achieve equal retraction forces, maintaining alignment precision while providing ease of operation through automated control.
Data Source
AI summary
Systems and methods for robotic retraction of tissues in a surgical field. Two retractor mechanisms are used on either side of an incision. Each retractor is adapted to be held by a robotic arm, which applies force on the retractor mechanism to pull dissected tissue away from the incision, thus revealing the operative field. A force sensor is employed to measure the force on the retractor, an optional tracking sensor may be used to measure the extent of tissue retraction in two or three dimensions, and both sources of information provided to the robotic controller. By monitoring feedback from either the force sensor or the tracking sensor, the system is able to maintain equal retraction on both sides of the incision. The retractor elements incorporate mechanisms that move down the tissue as the retractors are pulled laterally.