US 11,864,745 B2
Surgical robotic system with retractor
Adam Friedrich, Cinnaminson, NJ (US); Neil R. Crawford, Chandler, AZ (US); Kevin Zhang, Malden, MA (US); Sanjay Joshi, Andover, MA (US); Norbert Johnson, North Andover, MA (US); and Weston Healy, Cambridge, MA (US)
Assigned to Globus Medical, Inc., Audubon, PA (US)
Filed by GLOBUS MEDICAL, INC., Audubon, PA (US)
Filed on Nov. 10, 2017, as Appl. No. 15/809,034.
Application 15/809,034 is a continuation in part of application No. 15/609,334, filed on May 31, 2017.
Application 15/609,334 is a continuation in part of application No. 15/157,444, filed on May 18, 2016.
Application 15/157,444 is a continuation in part of application No. 15/095,883, filed on Apr. 11, 2016, granted, now 10,893,912.
Application 15/095,883 is a continuation in part of application No. 14/062,707, filed on Oct. 24, 2013, granted, now 10,357,184.
Application 14/062,707 is a continuation in part of application No. 13/924,505, filed on Jun. 21, 2013, granted, now 9,782,229.
Claims priority of provisional application 61/800,527, filed on Mar. 15, 2013.
Claims priority of provisional application 61/662,702, filed on Jun. 21, 2012.
Prior Publication US 2018/0132839 A1, May 17, 2018
Int. Cl. A61B 17/02 (2006.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 34/00 (2016.01); A61B 17/00 (2006.01); A61B 90/00 (2016.01); A61B 6/12 (2006.01); A61B 6/00 (2006.01)
CPC A61B 17/0206 (2013.01) [A61B 34/20 (2016.02); A61B 34/30 (2016.02); A61B 34/76 (2016.02); A61B 6/12 (2013.01); A61B 6/4405 (2013.01); A61B 6/4441 (2013.01); A61B 34/71 (2016.02); A61B 2017/00398 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/00876 (2013.01); A61B 2034/2055 (2016.02); A61B 2034/2068 (2016.02); A61B 2090/064 (2016.02); A61B 2090/066 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A surgical retractor for a surgical robot system, the surgical retractor comprising:
a retractor frame comprising a plurality of arms that are translatably and/or pivotably connected to the retractor frame;
a coupler configured to releasably attach the retractor frame to a robot arm of the surgical robot system;
a plurality of blades, each coupled to and extending away from a distal end of one of the arms; and
a sensor 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;
a location tracking system including a camera system;
wherein the sensor comprises:
at least one flexible member connected between the blades and the arms that allows elastic movement between the blades and the arms; and
a plurality of optical tracking markers trackable by the camera system, at least one of the plurality of tracking markers connected to at least one of the arms, and at least another one of the plurality of tracking markers connected to at least one of the blades, wherein the location tracking system determines the force exerted on the at least one blade relative to the at least one arm based on the change in orientation of the at least one tracking marker on the at least one arm relative to the at least one tracking marker on the at least one blade observed by the camera system,
wherein each of the flexible members is disposed between a proximal end of one of the blades and a distal end of one of the arms, and
wherein each of the flexible members is configured to bend and/or twist as force and/or torque is applied to the blades resulting in differing amounts of movement between the at least one the plurality of markers on the blades compared to movement of the at least one of the plurality of markers on the arms and to at least one of the plurality of markers on the retractor frame.