A surgical robot system comprising: - a robot having a robot base and a robot arm coupled to the robot base; - a surgical retractor comprising: • a retractor frame comprising a plurality of arms that are translatably and/or pivotably connected to 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 one of the arms; • a force and/or torque sensor connected to the 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 blades from contact with material of a surgical site; • a force and/or torque feedback determination unit configured to sense the indication provided by the force and/or torque sensor, and to determine the amount of force and/or torque that is being applied to the at least one of the blades based on the indication, - a camera system; wherein the force and/or torque sensor comprises: - at least one flexible member connected between the blades and the arms that allows elastic movement between the blades and the arms; - and a plurality of tracking markers (2016, 2018, 2020), at least one of the tracking markers is connected to each of the arms and the blades, wherein the camera system is configured to track movement between the orientations of the tracking markers, and to output information indicating the relative orientation movement, and wherein the force and/or torque feedback determination unit is coupled to receive the information from the camera system and to determine therefrom the amount of force and/or torque that is being applied to the at least one of the blades based on the information. - a robot having a robot base and a robot arm coupled to the robot base; - a surgical retractor comprising: • a retractor frame comprising a plurality of arms that are translatably and/or pivotably connected to 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 one of the arms; • a force and/or torque sensor connected to the 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 blades from contact with material of a surgical site; • a force and/or torque feedback determination unit configured to sense the indication provided by the force and/or torque sensor, and to determine the amount of force and/or torque that is being applied to the at least one of the blades based on the indication, • a retractor frame comprising a plurality of arms that are translatably and/or pivotably connected to 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 one of the arms; • a force and/or torque sensor connected to the 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 blades from contact with material of a surgical site; • a force and/or torque feedback determination unit configured to sense the indication provided by the force and/or torque sensor, and to determine the amount of force and/or torque that is being applied to the at least one of the blades based on the indication, - a camera system; wherein the force and/or torque sensor comprises: - at least one flexible member connected between the blades and the arms that allows elastic movement between the blades and the arms; - and a plurality of tracking markers (2016, 2018, 2020), at least one of the tracking markers is connected to each of the arms and the blades, - at least one flexible member connected between the blades and the arms that allows elastic movement between the blades and the arms; - and a plurality of tracking markers (2016, 2018, 2020), at least one of the tracking markers is connected to each of the arms and the blades, wherein the camera system is configured to track movement between the orientations of the tracking markers, and to output information indicating the relative orientation movement, and wherein the force and/or torque feedback determination unit is coupled to receive the information from the camera system and to determine therefrom the amount of force and/or torque that is being applied to the at least one of the blades based on the information.