Soft retractors

Patent metadata

Field	Value
Publication number	US-2015366547-A1
Application number	US-201514742487-A
Country	US
Kind code	A1
Filing date	Jun 17, 2015
Priority date	Jun 18, 2014
Publication date	Dec 24, 2015
Grant date	—

Abstract

A soft material retractor includes at least two soft actuators, each actuator having at least one pressurizable interior space, wherein the actuator has a first flexible resting state and a second stiffer pressurized state; and a flexible sheet spanning the actuators such that the actuators can be spaced apart from each other by a distance selected to displace a volume of material of a body cavity. The retractor can be uses for holding open wounds or incisions, with trochars, or to displace anatomical features such as organs within a body cavity.

First claim

1 . A soft material retractor, comprising:
at least two soft actuators, each actuator comprising at least one pressurizable interior space, wherein the actuator comprises a first flexible resting state and a second stiffer pressurized state; and a flexible sheet spanning the actuators such that the actuators can be spaced apart from each other by a distance selected to displace a volume of material of a body cavity.

2 . The soft material retractor of claim 1 , wherein the actuator spacing varies along the length of the actuators.

3 . The soft material retractor of claim 1 , wherein the soft actuators comprise fluidic interconnects suitable for connection of a single fluid pressurizing source.

4 . The soft material retractor of claim 1 , wherein the soft actuators comprise fluidic interconnects suitable for connection of a different fluid pressurizing sources to each actuator.

5 . The soft material retractor of claim 1 , wherein the soft actuators bend upon fluid pressurization.

6 . The soft material retractor of claim 1 , wherein the soft actuator elongate upon fluid pressurization.

7 . The soft material retractor of claim 6 , wherein the retractor comprises a plurality of flexible sheets spanning the actuators and secured at intervals along the length of the actuators.

8 . The soft material retractor of claim 1 , wherein the soft actuators are sized for insertion into an incision, wound or trochar.

9 . The soft material retractor of claim 1 , wherein the distance is selected to span the thickness of a wall thickness of a body cavity.

10 . The soft material retractor of claim 1 , wherein the distance is selected to displace an anatomical structure within a body cavity.

11 . The soft material retractor of claim 1 , wherein the flexible sheet is a plastic sheet.

12 . The soft material retractor of claim 1 , wherein the flexible sheet is a molded elastomer.

13 . The soft material retractor of claim 1 , wherein protruding features are incorporated into the flexible sheet.

14 . The soft material retractor of claim 1 , wherein the flexible sheet comprises a plastically deformable material.

15 . The soft material retractor of claim 1 , wherein the flexible sheet comprises a reversible connective interface to change the spacing and/or orientation of the soft actuators.

16 . The soft material retractor of claim 15 , wherein the reversible connective interface is selected from the group of hook and loop, reversible adhesives, and a pull string or adjustable cording.

17 . The soft material retractor of claim 1 , further comprising a flexible sleeve secured to the flexible sheet, wherein the at least two actuators are housed within the flexible sleeve.

18 . The soft material retractor of claim 17 , wherein the flexible sleeve comprises a plastic sheet.

19 . The soft material retractor of claim 17 , wherein the flexible sleeve is thermally sealed around the soft actuators.

20 . The soft material retractor of claim 17 , wherein the flexible sleeve is elastomeric.

21 . The soft material retractor of claim 17 , wherein the flexible sleeve and the flexible sheet is overmolded onto the soft actuators.

22 . The soft material retractor of claim 21 , wherein protruding features are incorporated into the flexible sleeve.

23 . The soft material retractor of claim 1 , wherein ends of the actuators are configured to be connected end to end to form a loop.

24 . The soft material retractor of claim 23 , wherein retractor grows radially upon pressurization.

25 . The soft material retractor of claim 1 , wherein the soft actuators can be different sizes.

26 . The soft material retractor of claim 1 , wherein the soft actuators actuate at different pressures.

27 . The soft material retractor of claim 1 , wherein the soft actuators are comprised of different materials.

28 . The soft material retractor of claim 1 , wherein at least one of the soft actuators comprises one or more of embedded electronics configured for measuring tissue impedance (e.g. the health of tissue after cauterizing) or electro-chemical sensing for medical diagnostics (e.g. determining ion levels) or the electronics power LEDs to improve visibility.

29 . A soft material retractor comprising:
at least one soft actuator, the soft actuator comprising at least one pressurizable interior space, wherein the retractor comprises a first flexible resting state and a second stiffer pressurized state; and an anchor for securing the soft actuator against a soft body component in a patient.

30 . The soft material retractor of claim 29 , wherein the soft actuator bends upon fluid pressurization.

31 . The soft material retractor of claim 29 , wherein the soft actuator extends upon fluid pressurization.

32 . The soft material retractor of claim 29 , wherein the soft actuator displaces soft tissue or anatomical structures.

33 . The soft material retractor of claim 29 , wherein the soft actuator further comprises a lumen.

34 . The soft material retractor of claim 33 , wherein the lumen is configured for one or more of delivering therapies, sample collection, insertion of objects, suction, intubation and medical diagnostic sensors.

35 . The soft material retractor of claim 29 , further comprising a fitting adapted to the actuator to improve connection to anatomical features.

36 . The soft material retractor of claim 35 , wherein the fitting is attached to the distal end of the actuator and is configured to anchor to soft tissue or bony features.

37 . The soft material retractor of claim 35 , wherein the fitting has a vacuum connection to suction onto anatomical features.

38 . The soft material retractor of claim 29 , wherein the anchor comprises suction cups for grabbing or anchoring to anatomical structures.

39 . The soft material retractor of claim 29 , wherein the anchor comprises surgical nails, staples, barbs, or screws for grabbing or anchoring to anatomical structures.

40 . The soft material retractor of claim 29 , wherein the anchor further comprises a handle secured to the soft actuator.

41 . The soft material retractor of claim 29 , wherein the retractor is sized for use as a deep pelvic retractor.

42 . The soft material retractor of claim 29 , further comprising electronics embedded in the soft actuator.

43 . The soft material retractor of claim 42 , wherein the embedded electronics are configured for one or more of measuring tissue impedance or electro-chemical sensing for medical diagnostics or the electronics power LEDs to improve visibility.

44 . The soft material retractor of claim 29 , further comprising functional materials incorporated into the soft actuator.

45 . A soft material refractor, comprising
a first retractor comprising:
at least two soft actuators, each actuator comprising at least one pressurizable interior space, wherein the actuator comprises a first flexible resting state and a second stiffer pressurized state; and
a flexible sheet spanning the actuators such that the actuators can be spaced

Assignees

• Harvard College
• Soft Robotics Inc

Inventors

• Galloway Kevin C
• Lessing Joshua Aaron

Classifications

• A61B2090/309

  using white LEDs · CPC title

• A61B2017/00477

  Coupling (A61B2017/0046 takes precedence) · CPC title

• A61B90/98

  using electromagnetic means, e.g. transponders · CPC title

• A61B2017/00026

  Conductivity or impedance, e.g. of tissue · CPC title

• A61B2217/005

  with suction drainage system · CPC title