Robotic Tissue Retractors With Force Feedback for Symmetric Retraction
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Solution Overview
Problem
Existing surgical retractors, both manual and automated, risk causing traumatic tissue damage due to excessive pressure, leading to misalignment and potential nerve damage during surgical procedures, especially in spinal fusion, where maintaining the relative position of deeper tissues to the midline is crucial.
Innovation Solution
A system of robotic retractors with force sensors and tracking sensors to ensure equal and controlled force application on both sides of the incision, using robotic arms to maintain tissue retraction within safe pressure limits, and adjust based on feedback to prevent tissue damage and maintain alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If automated robotic retractors are used to hold tissue open during surgery, then surgical precision and consistency are improved, but the risk of excessive pressure causing tissue damage increases
Solution Approach 1:
The robotic retractor system incorporates force sensors that continuously monitor the pressure applied to tissue and provide real-time feedback to the control system. This feedback loop enables the system to automatically adjust retractor position and force application to maintain pressure within safe thresholds, preventing tissue damage while preserving surgical precision
Solution Approach 2:
The system dynamically changes operational parameters including retractor position, applied force, and retraction depth based on real-time tissue response and surgical conditions. By continuously adjusting these parameters within safe limits, the system maintains precise tissue retraction without exceeding pressure thresholds that would cause tissue damage
2Adaptability or versatility
If manual repositioning of retractors is performed throughout the procedure, then adaptability to tissue changes is improved, but the risk of asymmetric tissue shift and loss of anatomical reference increases
Solution Approach 1:
The robotic retractor system performs self-adjustment through automated control algorithms that respond to tissue changes without requiring manual intervention. The system autonomously maintains symmetric retraction and anatomical alignment by processing sensor data and adjusting retractor positions, thereby preserving tissue stability while adapting to procedural needs
3Ease of operation
If fixed positioning of retractors is applied to maintain surgical exposure, then surgical access is improved, but the potential for hypoperfusion and mechanical tissue injury increases
Solution Approach 1:
The robotic retractor system transitions from fixed positioning to dynamic, continuously adjustable positioning. The retractors can move autonomously to maintain optimal surgical exposure while adapting to tissue movement and physiological changes, ensuring that surgical access is preserved without imposing constant fixed pressure that would cause hypoperfusion or tissue injury
Data Source
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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.