Surgical Retractor Force and Torque Feedback for Robotic Precision
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Solution Overview
Problem
Existing surgical robot systems lack force and torque feedback, limiting their effectiveness during surgical procedures.
Innovation Solution
A surgical robot system with a retractor that includes a retractor frame, coupler, blades, force and/or torque sensor, and a feedback determination unit, providing real-time feedback on applied force and torque.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If position recognition systems with infrared sensors and markers are used to track surgical instruments, then position tracking precision is improved, but force and torque feedback capability deteriorates (is lost)
Solution Approach 1:
The patent combines position tracking sensors and force/torque sensors into a single integrated surgical instrument assembly. The position recognition system uses infrared markers tracked by cameras while force/torque sensors measure mechanical forces, merging both functionalities into one unified system that provides simultaneous position and force feedback.
Solution Approach 2:
The surgical instrument is designed with multi-functionality, serving both as a tracked object for position recognition and as a sensing element for force measurement. The instrument assembly universally provides both positional data through markers and force data through embedded sensors, eliminating the need for separate systems.
2Manufacturing precision
If robot arms are precisely guided using position feedback from infrared tracking, then positioning accuracy is improved, but surgical effectiveness deteriorates due to lack of force feedback
Solution Approach 1:
The system implements dual feedback loops: position feedback from infrared tracking guides the robot arm's movement accuracy, while force feedback from sensors provides information about tissue interaction forces. This combined feedback enables the surgical system to maintain positioning accuracy while also ensuring surgical effectiveness through force monitoring.
Solution Approach 2:
The surgical instrument acts as an intermediary between the robot arm and the surgical site, translating robotic motion into precise surgical actions while simultaneously measuring both position and force. This intermediary component enables the robot to indirectly sense and respond to surgical conditions through the instrument's integrated sensors.
Data Source
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AI summary
A surgical robot system includes a robot having a robot base and a robot arm coupled to the robot base, and a surgical retractor. The surgical retractor includes a retractor frame, a coupler, blades, a force and/or torque sensor, and a force and/or torque feedback determination unit. The retractor frame includes arms that are translatably and/or pivotably connected to the retractor frame. The coupler releasably attaches the retractor frame to the robot arm. The blades are each coupled to and extend away from a distal end of one of the arms. The force and/or torque sensor is connected to the blades and indicates an amount of force and/or torque being applied to the blades from contact with material of a surgical site. The force and/or torque feedback determination unit determines the amount of force and/or torque being applied to the blades based on the indication.