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 joint distraction device, comprising:
a first member comprising an insertion end configured to be inserted between a first bone and a second bone of a joint, the insertion end comprising a cavity therein;
a hinge coupled to the first member;
a second member comprising a distal portion and a proximal portion, the second member coupled to the hinge at a position between the distal portion and the proximal portion, wherein the distal portion is configured to be received within the cavity of the insertion end and inserted between the first bone and the second bone when the insertion end is inserted therein;
a third member coupled to the hinge and manipulable to exert a force on the proximal portion of the second member that causes the distal portion to rotate about the hinge and away from the insertion end while the distal portion and the insertion end are inserted between the first bone and the second bone, thereby distracting the first bone from the second bone; and
a disposable force sensor pod configured to be removably coupled to at least one of the second member or the third member.
2. The joint distraction device of claim 1 , wherein the insertion end of the first member is configured to engage the first bone and the distal portion of the second member is configured to engage the second bone; and
wherein the force exerted on the proximal portion of the second member by the third member is proportional to a distraction force provided by the insertion end and the distal portion to distract the first bone from the second bone.
3. A surgical system, comprising:
a disposable force sensor pod comprising a mounting feature and at least one of a load cell or a strain gauge;
a computing system configured to be placed in electronic communication with the disposable force sensor pod and receive a force measurement from the disposable force sensor pod; and
a distraction device comprising:
a first member comprising an insertion end configured to be inserted between a first bone and a second bone of a joint, the insertion end comprising a cavity therein;
a hinge rotatably coupled to the first member;
a second member comprising a distal portion and a proximal portion, the second member rotatably coupled to the hinge at a position between the distal portion and the proximal portion, wherein the distal portion is configured to be received within the cavity of the insertion end and inserted between the first bone and the second bone when the insertion end is inserted therein; and
a third member rotatably coupled to the hinge and manipulable to exert a force on the proximal portion of the second member that causes the distal portion to rotate about the hinge and away from the insertion end while the distal portion and the insertion end are inserted between the first bone and the second bone, thereby distracting the first bone from the second bone,
wherein the proximal portion comprises a mount configured to receive the mounting feature to removably couple the disposable force sensor pod to the distraction device.
4. The system of claim 3 , wherein the mount is positioned on a surface of the proximal portion facing the third member.
5. The system of claim 3 , comprising a plurality of replacement disposable force sensor pods.
6. The system of claim 3 , further comprising a tracking system configured to track a pose of the first bone and a pose of the second bone.
7. The system of claim 6 , wherein the computing system is configured to associate, for each of a plurality of time steps, the force measurement from the disposable force sensor pod for the time step with a distraction distance calculated based on the pose of the first bone for the time step and the pose of the second bone for the time step.
8. The system of claim 7 , comprising a display screen, the display screen configured to display a graphical representation of the distraction distance and the force measurement for the plurality of time steps.
9. The system of claim 8 , wherein the computing system is configured to identify at least one of a preferred distraction distance or a ligament stiffness transition point by analyzing the force measurements and the distraction distances for the plurality of time steps.
10. The system of claim 9 , wherein the computing system is configured to generate or modify a surgical plan in accordance with the preferred distraction distance.
11. The system of claim 10 , comprising a robotic device;
wherein the computing system is configured to control the robotic device in accordance with the surgical plan.
12. The system of claim 3 , wherein the electronic communication comprises wireless communication.
13. The system of claim 3 , comprising a disposable cord coupled to the disposable force sensor pod and the computing system, the disposable cord configured to provide a conductive path for the electronic communication.