FORCE-INDICATING RETRACTOR DEVICE AND METHODS OF USE
Devices, systems, and methods for measuring a force applied to a joint during a surgical procedure are disclosed. The device includes an insertion tool, a handle, and one or more force indicators. The insertion tool includes an insertion end and a base end. The one or more force indicators may be attached to the insertion tool and the handle. The insertion end of the device may be inserted into a joint during a surgical procedure and used to apply a force to the joint and/or measure the force using the one or more force indicators when the force is applied.
1 . A device for use during a surgical procedure, the device comprising:
a body including a handle portion and a tip portion having at least one prong, wherein the tip portion is configured to apply a force to a joint;
a first optical tracking array operatively connected to the body at a proximal end thereof;
a second optical tracking array connected to the body adjacent the tip portion, wherein the first and second optical tracking arrays create a measurable vector;
wherein, when the tip portion applies a force to a joint, the body defects and the measurable vector is altered; and
wherein a magnitude and a direction of the force applied to the joint can be determined based on an amount of deflection.
2 . The device of claim 1 , wherein a position of the first optical tracking array changes with respect to a position of the second optical tracking array when the body deflects based on the force applied.
3 . The device of claim 1 , wherein the forces can be determined based on a relative position between the first and second optical tracking arrays.
4 . The device of claim 1 , wherein the body further comprises a flexible portion having a first modulus of elasticity and a moment of inertia; and
the tip portion has a second modulus of elasticity less than the first modulus of elasticity.
5 . The device of claim 1 , wherein the at least one prong is sized and shaped to be received between a femoral condyle and a tibial condyle of the joint, and wherein the at least one prong is configured to deflect with respect to the body by concentrating the force applied to the device at a predetermined location of the device.
6 . The device of claim 5 , wherein the second optical tracking array remains exposed outside of the joint while the at least one prong is between the femoral condyle and the tibial condyle.
7 . The device of claim 1 , wherein the measurable vector comprises an angle, and wherein the angle is proportional to the force applied to the device.
8 . The device of claim 1 , wherein the body is linear.
9 . The device of claim 1 , wherein:
the first optical tracking array comprises at least one of an active tracker, a passive tracker, an infrared camera system, a stereo camera system, an active LED tracker, a retroreflective marker tracker, and a video tracker; and
the second optical tracking array comprises at least one of an active tracker, a passive tracker, an infrared camera system, a stereo camera system, an active LED tracker, a retroreflective marker tracker, and a video tracker.
10 . The device of claim 1 , wherein the tip portion comprises at least one of a z-type retractor and a Hohmann-type retractor.
11 . A system for measuring one or more forces applied to a joint during a surgical procedure, the system comprising:
a device comprising:
a body including a handle portion and a tip portion having at least one prong, wherein the tip portion is configured to apply a force to a joint;
a first optical tracking array operatively connected to the body at a proximal end thereof;
a second optical tracking array connected to the body adjacent the tip portion, wherein the first and second optical tracking arrays create a measurable vector;
wherein, when the tip portion applies a force to a joint, the body defects and the measurable vector is altered; and
a robotic surgical system including a tracking system configured to determine a relative position between the first and second optical tracking arrays and, from the relative position, determine the force applied to the device.
12 . The system of claim 11 , wherein a position of the first optical tracking array changes with respect to a position of the second optical tracking array when the body deflects based on the force applied.
13 . The system of claim 11 , wherein the force can be determined based on a relative position between the first and second optical tracking arrays.
14 . The system of claim 11 , wherein the body further comprises a flexible portion having a first modulus of elasticity and a moment of inertia; and
the tip portion has a second modulus of elasticity less than the first modulus of elasticity.
15 . The system of claim 11 , wherein the at least one prong is sized and shaped to be received between a femoral condyle and a tibial condyle of the joint, and wherein the at least one prong is configured to deflect with respect to the body by concentrating the force applied to the device at a predetermined location of the device.
16 . The system of claim 15 , wherein the second optical tracking array remains exposed outside of the joint while the at least one prong is between the femoral condyle and the tibial condyle.
17 . The system of claim 11 , wherein the measurable vector comprises an angle, and wherein the angle is proportional to the force applied to the device.
18 . The system of claim 11 , wherein the body is linear.
19 . The system of claim 11 , wherein the robotic surgical system is configured to determine a magnitude and a direction of the force applied to the joint based on an amount of deflection.
20 . The system of claim 19 , wherein the amount of deflection is recorded based on at least one of a user input, a user gesture, a user voice, temporal components, a determined force being applied, a rotational force being applied, and a sensor input.