ROBOTIC LIGHT PROJECTION TOOLS
A surgical visualization system is disclosed. The surgical visualization system is configured to identify one or more structure(s) and/or determine one or more distances with respect to obscuring tissue and/or the identified structure(s). The surgical visualization system can facilitate avoidance of the identified structure(s) by a surgical device. The surgical visualization system can comprise a first emitter configured to emit a plurality of tissue-penetrating light waves and a second emitter configured to emit structured light onto the surface of tissue. The surgical visualization system can also include an image sensor configured to detect reflected visible light, tissue-penetrating light, and/or structured light. The surgical visualization system can convey information to one or more clinicians regarding the position of one or more hidden identified structures and/or provide one or more proximity indicators. In various instances, a shaft-less light projection tool can be manipulated around the surgical site by a robotic tool.
1 . A robotic surgical system, comprising:
a structured light source;
a shaft-less tool comprising a projector configured to emit a structured light pattern on a surface of an anatomical structure; and
a cable extending from the shaft-less tool to the structured light source.
2 . The robotic surgical system of claim 1 , further comprising an image sensor configured to detect the structured light pattern.
3 . The robotic surgical system of claim 2 , further comprising:
a robotic arm; and
a grasper operably coupled to the robotic arm, wherein the grasper is configured to grasp the shaft-less tool at a particular location.
4 . The robotic surgical system of claim 3 , wherein the shaft-less tool further comprises a tab, and wherein the grasper is configured to releasably grasp the tab to maneuver the shaft-less tool.
5 . The robotic surgical system of claim 4 , further comprising a control circuit in signal communication with the image sensor, wherein the control circuit is configured to determine a distance from the projector to the surface of the anatomical structure.
6 . The robotic surgical system of claim 5 , wherein the control circuit is further configured to determine the coordinates of the shaft-less tool in a robotic coordinate system.
7 . The robotic surgical system of claim 6 , further comprising:
a second robotic arm; and
a second tool operably coupled to the second robotic arm, wherein the control circuit is further configured to determine a tool-to-tool distance between the shaft-less tool and the second tool and a second distance between the second tool and the anatomical structure.
8 . The robotic surgical system of claim 2 , further comprising a spectral light source, wherein the shaft-less tool further comprises a second projector configured to emit spectral light waves in a plurality of wavelengths capable of penetrating the anatomical structure and reaching an embedded structure located below the surface of the anatomical structure, wherein the cable extends to the spectral light source.
9 . The robotic surgical system of claim 8 , further comprising a control circuit in signal communication with the image sensor, wherein the control circuit is configured to determine a depth of the embedded structure below the surface of the anatomical structure.
10 . The robotic surgical system of claim 1 , wherein the shaft-less tool further comprises a first magnet, and wherein the robotic surgical system further comprises:
a robotic arm; and
a second magnet operably coupled to the robotic arm, wherein a magnetic attraction between the first magnet and the second magnet allows the robotic arm to maneuver the shaft-less tool.
11 . The robotic surgical system of claim 1 , wherein the shaft-less tool further comprises a second projector configured to emit photoacoustic signals in a plurality of wavelengths capable of penetrating the anatomical structure and reaching an embedded structure located below the surface of the anatomical structure.
12 . The robotic surgical system of claim 11 , further comprising a receiver configured to detect ultrasonic vibrations of the photoacoustic signals.
13 . A robotic surgical tool, comprising:
a structured light source;
a body, comprising:
a distal end comprising a projector configured to emit a structured light pattern;
a proximal end; and
a projection extending from the body; and
a cable extending from the proximal end to the structured light source.
14 . The robotic surgical tool of claim 13 , further comprising a spectral light source, and wherein the distal end further comprises a spectral projector configured to emit spectral light in a plurality of wavelengths.
15 . The robotic surgical tool of claim 14 , wherein the cable comprises a fiber optic cable.
16 . The robotic surgical tool of claim 13 , wherein the projection comprises:
a central portion extending radially from the body; and
an alignment flange extending from the central portion.
17 . The robotic surgical tool of claim 13 , further comprising a second projector configured to emit photoacoustic signals in a plurality of wavelengths capable of penetrating an anatomical structure and reaching an embedded structure located below the surface of the anatomical structure.
18 . A shaft-less robotic tool, comprising:
a proximal component comprising a first magnet; and
a distal component, comprising:
a second magnet, wherein a magnetic attraction between the first magnet and the second magnet allows the proximal component to maneuver the distal component through tissue;
a first projector configured to emit a structured light pattern on a surface of an anatomical structure; and
a second projector configured to emit spectral light in a plurality of wavelengths capable of penetrating the anatomical structure and reaching an embedded structure located below the surface of the anatomical structure.
19 . The shaft-less robotic tool of claim 18 , further comprising a flexible cable extending from the distal component to a light source.
20 . The shaft-less robotic tool of claim 19 , wherein the light source is configured to provide light to the first projector and the second projector.