Adam Friedrich,Neil R. Crawford,Kevin Zhang,Sanjay Joshi,Norbert Johnson,Weston Healy
申请号：
US15809034
公开号：
US20180132839A1
申请日:
2017.11.10
申请国别(地区):
US
年份:
2018
代理人:
摘要：
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.
