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Origami-based flexible, compliant, and bio-inspired robots are believed to permit a range of medical applications within confined environments. In this article, we experimentally demonstrated an origami-inspired deployable surgical retractor with the controllable stiffness mechanism that can facilitate safer instrument–tissue interaction in comparison to their rigid counterparts. When controllable negative-pressure is applied to the jammed origami retractor module, it becomes more rigid, increasing its strength. To quantify origami-modules strength further, we demonstrated performances of retractor based on the Daler–Rowney Canford paper (38 grams per square meter (gsm)) and sandpaper of 1000 grit. Experiments on the proposed retractor prototype elucidated sandpaper-based retractor can outperform paper-38-gsm retractor for facelift incision with the width of more than 9 cm. Though 38 gsm Canford paper comprised of thin layers, 16 times lesser in thickness than sandpaper, experiments proved its comparable layer jamming (LJ) performance. We leverage the advantage of the LJ mechanism to tune retractor stiffness, allowing the instrument to hold and separate a facelift incision to mitigate the likelihood of surgical complications. The retractor is equipped with a custom-made printed conductive ink-based fabric piezoresistive tactile sensor to assist clinicians with tissue-retractor interaction force information. The proposed sensor showed a linear relationship with the applied force and has a sensitivity of 0.833 N−1. Finally, cadaver experiments exhibit an effective origami-inspired surgical retractor for assisting surgeons and clinicians in the near future.

Tactile sensing is an emerging technological advancement in surgical robotics in order to probe interactions between confined tissue environments and instruments based on touch information. The tactile sense can assist in improving the efficiency of the whole practice and hence enhance precision, control, and safety during surgery. This paper demonstrates a distinct proof-of-concept therapeutic device equipped with a soft tactile sensor. The tactile sensor was custom-made using flexible piezoresistive materials and conductive ink, wrapped with a biocompatible hydrogel polymer matrix for safer human–tissue interactions. The proposed tactile sensor was then calibrated and its performance was compared with gold standard sensors. It was further tested with a continuous force (5 N) for an extended period of time (about 6 h) to address robustness and repeatability. The sensor showed a sensitivity of 0.833 N−1 and a drift of ≤1%. Successful cadaver experiment demonstrates the efficiency of tactile sensing assistance to clinicians.