Instrument for optical tissue interrogation
A surgical system includes a light source, a sensor for detecting light, and a surgical device including an elongate shaft having a distal part positionable at a surgical working site within a body cavity. A first optical pathway transmits light from the light source to a distal part of the elongate shaft and onto tissue within the body cavity, and a second optical pathway receives light from tissue within the body cavity and transmits the received light to the sensor. A surgical drape, such as one covering a robotic manipulator arm housing components of the system, is positioned such that at least the first or second optical pathway includes an optically transmissive portion of the surgical drape.
1. A surgical system comprising:
a light source;
a sensor for detecting light;
a surgical instrument including an elongate shaft having a distal part positionable at a surgical working site within a body cavity, a first optical pathway for transmitting light from the light source to a distal part of the elongate shaft and is configured to be onto tissue within the body cavity, and a second optical pathway for receiving light from tissue within the body cavity and transmitting the received light to the sensor, wherein at least the first or second optical pathway includes optical fibers, and wherein at least the first or second optical fibers are removably positioned on the surgical instrument;
a surgical drape, wherein at least the first or second optical pathway includes an optically transmissive portion of the surgical drape.
2. The surgical system of claim 1 , wherein the drape is positionable between the surgical device and assembly including the light source and sensor.
3. The surgical system of claim 1 , further including a processor that receives from the sensor signals that are indicative of the light detected by the sensor, the processor configured to analyze the signals to derive or determine tissue information.
4. The surgical system of claim 3 , wherein the tissue information is tissue differentiation information, tissue type information, tissue density information, tissue pathology information, or information indicating inflammation, ischemia, or blood vessel presence (via transmittance loss, hemoglobin detection, or blood flow detection).
5. A surgical system comprising:
a manipulator arm;
a light source positioned on the manipulator arm;
a sterile drape having an optically transmissive portion, the sterile drape removably positionable on the manipulator arm with the optically transmissive portion covering at least a portion of the light source;
a surgical instrument having
first and second jaw members, at least one of the first and jaw members moveable to engage tissue between the first and second jaw members,
a first optical fiber having a distal end exposed on the first jaw member to transmit light to the engaged tissue from the first jaw member,
second optical fiber having a distal end exposed on the second jaw member for receiving light from the engaged tissue at the second jaw member,
wherein the surgical instrument is removably mounted to the robotic arm, with the sterile drape interposed between the sterile drape and the arm, the surgical instrument positionable within a body cavity; and
a sensor;
wherein the light source, the optically transmissive portion of the sterile drape, and the first optical fiber define a first optical pathway for transmitting light from the light source across the drape and to the engaged tissue, and wherein second optical fiber defines a second optical pathway for receiving light from the engaged tissue and transmitting the received light to the sensor.
6. The surgical system of claim 5 , wherein the optically transmissive portion of the drape is a window in the drape formed of optically transmissive material.
7. The surgical system of claim 5 , wherein the drape is constructed in its entirety of optically transmissive material.
8. The surgical system of claim 5 , further including a processor that receives from the sensor signals that are indicative of the light detected by the sensor, the processor configured to analyze the signals to derive or determine tissue information.
9. The surgical system of claim 8 , wherein the tissue information is tissue differentiation information, tissue type information, tissue density information, tissue pathology information, or information indicating inflammation, ischemia, or blood vessel presence (via transmittance loss, hemoglobin detection, or blood flow detection).
10. The surgical system of claim 5 , wherein the sensor is disposed on the manipulator arm, and wherein the surgical instrument and the optically transmissive portion of the sterile drape define a second optical pathway for receiving light from tissue within the body cavity and transmitting the received light across the drape to the sensor.
11. The surgical system of claim 5 wherein the sensor is positioned on the surgical instrument.
12. The surgical system of claim 5 , wherein the surgical instrument is further configured to deliver optical treatment energy.
13. The surgical system of claim 5 , wherein the received light is light reflected from the engaged tissue.
14. The surgical system of claim 5 , wherein the received light is light emitted by the engaged tissue.