Patent ID: 11864745
Assignee: GLOBUS MEDICAL INC.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 19:
20. A surgical retractor for a surgical robot system, the surgical retractor comprising:
a camera system;
a robot arm;
a retractor including:
a retractor frame;
a plurality of arms extending from the retractor frame;
a coupler configured to releasably attach the retractor frame to the robot arm;
a plurality of blades, each coupled to and extending away from a distal end of a respective arm; and
a passive optical sensor optically trackable by the camera system and connected to the blades and the arms, the passive optical sensor including a plurality of passive optical markers having:
at least one optical marker disposed on each blade; and
at least one other optical marker disposed on each arm; and

a processor coupled to the camera system and configured to provide an indication of an amount of force being applied to the blades from contact with material of a surgical site based on movement of the optical markers on the arms relative to the optical markers on the blades as observed by the camera system.