FIBER OPTIC IN-SITU CHEMICAL ANALYSIS IN A ROBOTIC SURGICAL SYSTEM
In one embodiment, a surgical instrument is described, the instrument including a housing that operably interfaces with a manipulator arm of a robotic surgical system, a shaft including a lengthwise axis, a wrist joint operably coupled to the distal end of the shaft, an end portion operably coupled to the wrist joint, and an optical fiber having a first end operably coupled to the end portion and a second end operably coupled to a spectrophotometer. A system and method for using the surgical instrument are also described.
1 . A surgical instrument, comprising:
a housing that operably interfaces with a manipulator arm of a robotic surgical system;
a shaft including a lengthwise axis;
a wrist joint operably coupled to the distal end of the shaft;
an end portion operably coupled to the wrist joint; and
an optical fiber having a first end operably coupled to the end portion and a second end operably coupled to a spectrophotometer.
2 . The instrument of claim 1 , wherein the shaft includes a groove along the lengthwise axis of the shaft for receiving the optical fiber.
3 . The instrument of claim 1 , further comprising a second optical fiber operably coupled to the end portion and the spectrophotometer capable of transmissive analysis in conjunction with the optical fiber.
4 . The instrument of claim 3 , wherein the optical fiber and the second optical fiber are each routed to one of two jaws.
5 . The instrument of claim 1 , wherein the end portion of the surgical instrument is selected from the group consisting of jaws, scissors, graspers, needle holders, micro-dissectors, staple appliers, tackers, suction irrigation tools, clip appliers, cutting blades, irrigators, catheters, tubes, and suction devices.
6 . The instrument of claim 1 , wherein the housing interfaces with a sterile adaptor of a sterile drape covering the manipulator arm.
7 . The instrument of claim 1 , further comprising a rotatable strain relief service loop operably coupled to a proximal end of the shaft for routing at least one optical fiber off the shaft at an angle from the lengthwise axis of the shaft.
8 . The instrument of claim 1 , further comprising an integrated circuit storing calibration data for optical emissions.
9 . A robotic surgical system, comprising:
a manipulator assembly including a manipulator arm;
a surgical instrument operably coupled to the manipulator arm, the surgical instrument including:
a housing that operably interfaces with the manipulator arm;
a shaft including a lengthwise axis;
a wrist joint operably coupled to the distal end of the shaft;
an end portion operably coupled to the wrist joint; and
an optical fiber having a first end operably coupled to the end portion; and
a spectrophotometer operably coupled to a second end of the optical fiber.
10 . The system of claim 9 , wherein the surgical instrument further includes a second optical fiber operably coupled to the end portion and the spectrophotometer capable of transmissive analysis in conjunction with the optical fiber.
11 . The system of claim 9 , wherein the end portion of the surgical instrument is selected from the group consisting of jaws, scissors, graspers, needle holders, micro-dissectors, staple appliers, tackers, suction irrigation tools, clip appliers, cutting blades, irrigators, catheters, tubes, and suction devices.
12 . The system of claim 9 , wherein the housing interfaces with a sterile adaptor of a sterile drape covering the manipulator arm.
13 . The system of claim 9 , wherein the surgical instrument further comprises a rotatable strain relief service loop operably coupled to a proximal end of the shaft for routing at least one optical fiber off the shaft at an angle from the lengthwise axis of the shaft.
14 . The system of claim 9 , wherein the spectrophotometer is capable of performing ultraviolet-visible light spectroscopy, Fourier transform infrared spectroscopy, or Raman spectroscopy.
15 . A method of in-situ chemical analysis using a robotic surgical instrument including a housing that operably interfaces with a manipulator arm, a shaft including a lengthwise axis, a wrist joint operably coupled to the distal end of the shaft, an end portion operably coupled to the wrist joint, and an optical fiber having a first end operably coupled to the end portion and a second end operably coupled to a spectrophotometer, the method comprising:
operably coupling the housing of the surgical instrument to a manipulator arm of a robotic surgical system;
transmitting light through the optical fiber;
receiving light in the spectrophotometer; and
analyzing the received light.
16 . The method of claim 15 , wherein analyzing the received light includes one of ultraviolet-visible light spectroscopy, Fourier transform infrared spectroscopy, and Raman spectroscopy.
17 . The method of claim 15 , further comprising receiving reflected or transmitted light in the optical fiber.
18 . The method of claim 15 , further comprising averaging a plurality of optical emission scans and correlating chemicals to the optical emission scans.
19 . The method of claim 15 , further comprising transmitting light through a plurality of optical fibers.
20 . The method of claim 15 , further comprising calibrating optical emissions from the optical fiber.