The present disclosure can include a system including a surgical arm, aretractorconnected to the surgical arm, a force sensor mounted on the surgical arm, theforce sensorconfigured to receive sensor data indicating force on the retractor from theforce sensor, and amagnetorheological fluid actuator for actuating the surgical arm, the actuatorconfigured toactuate according to the received sensor data, and adjust the surgical armaccording to thereceived sensor data so as to maintain a constant retraction force. Thepresent disclosure canadditionally include a method for retracting tissue including applying forceto the tissue with amagnetorheological fluid actuator to induce a retraction force, sensing achange in force appliedto the tissue using a force sensor, and maintaining the retraction force byadjusting the forceapplied to the tissue.
