Surgical robotic system with retractor
US11864745B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 10, 2017 |
| Grant date | Jan 9, 2024 |
| Priority date | — |
| Expiry date | Feb 1, 2041 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2090/066
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.