IP Library › Granted Patent US 12,622,580
Granted Patent B2
US 12,622,580 · App. 17/689,924 · Granted May 12, 2026

System and method for image guided transoral robotic surgery using an imaging compatible oral retractor system

Inventors: Yuan Shi (Hanover, NH); Xiaotian Wu (East Greenwich, RI); Joseph A. Paydarfar (Hanover, NH); Ryan J. Halter (Orford, NH)
Assignees: Dartmouth-Hitchcock Clinic; The Trustees of Dartmouth College
A61B1/24A61B1/267A61B6/44A61B6/512A61B17/0293A61B34/30
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Quick Facts
Patent No.
US 12,622,580
App. No.
17/689,924
Granted
May 12, 2026
Kind
B2
Abstract

A support rig for a medical instrument can hold a medical instrument that is inserted into a patient in a fixed position and orientation relative to patient, so that the position and orientation of the medical instrument is not affected by the breathing or other motion of the patient. The support rig and medical instrument can be radiolucent and non-metallic, so that an image can be taken of the patient while the medical instrument is inserted in the patent and held by the support rig. The radiolucent support rig and medical instrument can allow for imaging, including x-ray, CT, and/or MRI, to occur simultaneously during the surgery. Surgical outcomes can be improved by using imaging to provide information about a tumor and/or anatomical structures during surgery.

Claims (16)

1 . A method of manufacturing a customized radiolucent and MR compatible retractor for use in image guided trans-oral robotic surgery, the method comprising the steps of:

acquiring an image of an oral cavity and airway of a patient;

identifying a location of a tumor;

making a 3D model representing associated anatomy;

designing a customized retractor based on the 3D model and the location of the tumor, wherein designing the customized retractor comprises modifying geometry of at least one of a tongue blade or a maxillary blade to provide surgical access to the identified tumor based on its position in the 3D model of the patient's anatomy; and

3D printing the customized retractor based upon the step of designing.

2 . The method as set forth in claim 1 wherein the step of 3D printing includes printing a maxillary blade supported by a body that enables one or more surgical instruments to pass therethrough and is movable relative to a tongue blade to allow a retraction operation on the patient.

3 . The method as set forth in claim 2 wherein the step of 3D printing further comprises constructing the tongue blade to be movable transversely to the body.

4 . The method as set forth in claim 2 wherein the maxillary blade is constructed from a Nylon material and the tongue blade is constructed by 3D printing with a carbon fiber-reinforced composite material selected for use within an MR imaging field.

5 . The method as set forth in claim 4 wherein the tongue blade includes a grooved rack and that slidably engages a tongue blade base having a cam for locking and unlocking a slidable adjustment position of the tongue blade relative to the body.

6 . The method as set forth in claim 5 wherein the retractor includes an arm assembly adapted to mount, at a proximal end of the retractor, to a support stand, the arm being adjustable in length of extension to thereby move the tongue blade and maxillary blade.

7 . The method as set forth in claim 6 wherein the arm assembly includes, at the proximal end, a support that allows for an angle of the arm assembly to be adjusted using a worm gear.

8 . The method as set forth in claim 7 wherein the tongue blade base adjustably moves along the arm assembly so as to vary a distance between the tongue blade and the maxillary blade.

9 . The method as set forth in claim 8 wherein the tongue blade base includes a set screw to fix a position thereof relative to the arm assembly.

10 . The method as set forth in claim 1 , further comprising, adjusting an overall length of the arm assembly by moving a telescoping portion of the arm assembly relative to a sleeve and fixing the portion with respect to the sleeve in a desired position.

11 . The method as set forth in claim 1 , wherein the customized retractor design includes cut-away or relief regions aligned with the tumor site to optimize access and reduce obstruction in an image-guided robotic procedure.

Assignments (2)
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Mar 9, 2022
From: PAYDARFAR, JOSEPH A.
To: DARTMOUTH-HITCHCOCK CLINIC
Reel/Frame 059208/0114 →
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Mar 9, 2022
From: SHI, YUAN; WU, XIAOTIAN; HALTER, RYAN J.
To: THE TRUSTEES OF DARTMOUTH COLLEGE
Reel/Frame 059208/0244 →
Continuity (2)
Provisional Application 63158822 · Mar 9, 2021
Related Publication 20220330804A1 · Oct 20, 2022
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