Robotic retractor system

摘要

The robotic mechanism may be used to position a tissue retractor assembly relative to body tissue. Once the tissue retractor assembly has been positioned relative to the body tissue by the robotic mechanism, the robotic mechanism effects operation of the tissue retractor assembly from a contracted condition to an expanded condition to move body tissue. This movement of body tissue may advantageously create a space for the performance of a surgical procedure by the robotic mechanism. Embodiments may facilitate the insertion of one or more surgical instruments through a cannula to a working space created by expansion of a balloon or bladder from the contracted condition to the expanded condition. As the bladder or balloon expands, portions of body tissue are deflected under the influence of force applied to the body tissue by the bladder or balloon.

主权项

1. A robotic retractor system comprising:
a robotic mechanism including a robotic arm; a retractor assembly coupled to the robotic arm, the retractor assembly having a contracted configuration and an expanded configuration, the retractor assembly comprising:
a lumen extending through the retractor assembly; anda toroidal balloon having a central passage and configured to expand a working space to access a portion of a body by inflating the balloon to deflect at least a portion of body tissue, wherein the central passage enables surgical instruments to be inserted through the central passage; and a robotic arm interface coupled to a computer and connected to the robotic mechanism, the robotic arm interface configured to position the retractor assembly relative to a portion of a body and control flow of a fluid into the balloon to inflate the balloon from the contracted configuration to the expanded configuration, wherein the expanded configuration of the retractor assembly is configured to provide a working space to access the portion of the body.