Surgical instruments with sensors for detecting tissue properties, and system using such instruments
A system is provided that furnishes expert procedural guidance based upon patient-specific data gained from surgical instruments incorporating sensors on the instrument's working surface, one or more reference sensors placed about the patient, sensors implanted before, during or after the procedure, the patient's personal medical history, and patient status monitoring equipment. Embodiments include a system having a surgical instrument with a sensor for generating a signal indicative of a property of a subject tissue of the patient, which signal is converted into a current dataset and stored. A processor compares the current dataset with other previously stored datasets, and uses the comparison to assess a physical condition of the subject tissue and/or to guide a procedure being performed on the tissue.
1. A surgical instrument comprising:
an optical emitter comprising first and second light sources respectively emitting different first and second spectrums of wavelengths onto the biological tissue, the first and second spectrums respectively including a broad spectrum of wavelengths and a spectrum centered at a predetermined wavelength;
an optical filter comprising a band pass filter allowing light emitted by the biological tissue to pass;
a first optical detector configured to detect light of the first broad spectrum of wavelengths emitted by the first light source that is reflected from the biological tissue, and a second optical detector configured to detect light emitted from the biological tissue in response to the light of the second spectrum centered at the predetermined wavelength emitted by the second light source and that is allowed to pass through the optical filter; and
a processor configured to measure a parameter based on the light detected by the first and second optical detectors, and to measure a fluorescence response of light detected from the second optical detector when the second light source emits the second spectrum of wavelengths relative to a baseline response of light detected from the second optical detector when the second light source does not emit the second spectrum of wavelengths.
2. The surgical instrument of claim 1 , wherein the processor is further configured to characterize tissue substructure based on the light detected by at least one of the first and second optical detectors and guide a current surgical procedure.
3. The surgical instrument of claim 2 , wherein the processor is further configured to identify blood vessels based on the light detected by at least one of the first and second optical detectors.
4. The surgical instrument of claim 2 , wherein the processor is configured to characterize tissue substructure including substructure of blood vessels or bile ducts.
5. The surgical instrument of claim 1 , wherein the processor is further configured to identify regions of tissue with depleted blood supply based on the light detected by at least one of the first and second optical detectors.
6. The surgical instrument of claim 1 , wherein the first and second optical detectors include a plurality of optical detectors disposed in a linear or grid like arrangement.
7. The surgical instrument of claim 6 , wherein each optical detector disposed in the linear or grid like arrangement includes a respective photodiode, charge coupled device (CCD) sensor, complementary metal oxide semiconductor (CMOS) sensor, or spectrometer.
8. The surgical instrument of claim 1 , wherein the first and second optical detectors include a plurality of optical detectors disposed in an array and operative to assess perfusion at discrete points, and the processor is configured to determine the presence of regions with variations in perfusion at the discrete points based on the light detected by the plurality of optical detectors.
9. The surgical instrument of claim 1 , wherein the processor is configured to assess perfusion of the biological tissue based on the optical response of re-emitted light from an injectable probe, wherein the injectable probe is excited by the light emitted by the second light source and the re-emitted response is detected by the second optical detector.
10. The surgical instrument of claim 1 , wherein the second optical detector is configured for fluorescence imaging of a light re-emitting medium perfused in the biological tissue.
11. The surgical instrument of claim 10 , wherein the second optical detector is configured for fluorescence imaging of a fluorescent dye serving as the light re-emitting medium perfused in the biological tissue.
12. The surgical instrument of claim 1 , wherein the first light source outputs white light.
13. A surgical system comprising:
the surgical instrument of claim 1 ; and
a robotic manipulator coupled to the surgical instrument and operative to control the surgical instrument.
14. A surgical system comprising:
the surgical instrument of claim 1 ; and
a robotic manipulator coupled to the surgical instrument and controlled based on feedback from the processor of the surgical instrument.
15. The surgical instrument of claim 1 , wherein the second optical detector has a location known with respect to an imaging device configured to obtain a video signal showing the biological tissue, and the processor is configured to overlay measured perfusion on the video signal showing the biological tissue which is obtained by the imaging device.
16. The surgical instrument of claim 1 , wherein the second optical detector is configured to detect light that is emitted from the biological tissue in response to a fluorescent medium being introduced into the biological tissue, and
the processor is configured to monitor the onset of a fluorescence response, including measuring of at least one of a slope or rise time of a fluorescence response, based on the light detected by the second optical detector following a variation in an amount of the fluorescent medium introduced into the biological tissue.