Surgical Retractor Force Feedback Integration
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Solution Overview
Problem
Current position recognition systems for robot-assisted surgeries lack force and torque feedback, which limits their effectiveness during surgical procedures.
Innovation Solution
A surgical retractor system with a retractor frame, coupler, blades, and force/torque sensors that provide feedback on applied forces and torques, allowing for precise control and manipulation during surgeries.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If position recognition systems use passive or active sensors for tracking objects in robot-assisted surgeries, then the position tracking precision is improved, but the system lacks force and torque feedback capability
Solution Approach 1:
The patent combines position tracking sensors (passive reflective balls or active LEDs) with force/torque sensors into a single integrated surgical retractor system. This merging allows the system to simultaneously provide both position tracking and force feedback capabilities, resolving the contradiction between achieving precise position tracking and maintaining force feedback functionality.
Solution Approach 2:
The surgical retractor is designed as a multi-functional device that performs both position tracking (using optical sensors) and force measurement (using force/torque sensors). This universal design enables a single device to provide comprehensive surgical assistance including both spatial positioning and mechanical force feedback, eliminating the need for separate systems.
2Adaptability or versatility
If surgical retractors are designed with multiple blades and articulated arms for versatile surgical access, then the adaptability is improved, but the device complexity increases
Solution Approach 1:
The retractor system is divided into multiple articulated segments or arms that can independently position and orient surgical blades. Each segment can be controlled separately, allowing the system to adapt to various surgical configurations while maintaining manageable complexity through modular design. The segmentation enables versatile surgical access without requiring a completely complex monolithic structure.
Solution Approach 2:
The retractor employs dynamic articulated arms with multiple degrees of freedom that can be adjusted during surgery to achieve optimal blade positioning. This dynamic capability allows the system to adapt to different surgical scenarios and patient anatomies, providing versatility while using standardized mechanical components that keep the overall device complexity manageable.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enhances the precision and control of robotic arms and tools by providing real-time force and torque feedback, improving the accuracy and safety of surgical procedures.
Implementation Method 1
The force and/or torque sensor is connected to the blades and configured to provide an indication of an amount of force and/or torque that is being applied to at least one of the blades from contact with material of a surgical site
Data Source
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.