US 12,220,120 B2
Surgical robotic system with retractor
Adam Friedrich, Cinnaminson, NJ (US); Neil R. Crawford, Chandler, AZ (US); Kevin Zhang, Meford, MA (US); Sanjay Joshi, Andover, MA (US); Norbert Johnson, North Andover, MA (US); and Weston Healy, Durham, NC (US)
Assigned to Globus Medical, Inc., Audubon, PA (US)
Filed by GLOBUS MEDICAL, INC., Audubon, PA (US)
Filed on Dec. 1, 2023, as Appl. No. 18/526,412.
Application 18/526,412 is a continuation of application No. 15/809,034, filed on Nov. 10, 2017, granted, now 11,864,745.
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, granted, now 11,896,446.
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, issued on Jan. 19, 2021.
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, issued on Jul. 23, 2019.
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, issued on Oct. 10, 2017.
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 2024/0090884 A1, Mar. 21, 2024
Int. Cl. A61B 17/02 (2006.01); A61B 17/00 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 6/00 (2006.01); A61B 6/12 (2006.01); A61B 90/00 (2016.01)
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 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 34/71 (2016.02); A61B 2090/064 (2016.02); A61B 2090/066 (2016.02)] 18 Claims
OG exemplary drawing
 
1. A surgical retractor for a surgical robot system, the surgical retractor comprising:
a retractor frame;
a plurality of arms that are translatably and/or pivotably connected to the retractor frame;
a connector 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 plurality of arms;
a sensor connected to the plurality of 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 plurality of blades from contact with material of a surgical site;
a location tracking system configured to determine the force exerted on at least one of the plurality of arms relative to at least one of the plurality of blades;
at least one flexible member connected between the respective one of the plurality of blades and the respective one of the plurality of arms that allows elastic movement therebetween; and
a plurality of tracking markers, at least one of the plurality of tracking markers is connected to each of the plurality of arms and the plurality of blades, wherein the tracking markers are configured to allow their relative orientation to be tracked by the location tracking system of the surgical robot system.