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 barrier, 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 barrier.
1. A surgical method comprising:
removably positioning a sterile barrier on a manipulator arm;
removably positioning a surgical instrument on the manipulator arm such that the sterile barrier is positioned between a portion of the manipulator arm and a portion of the surgical instrument;
introducing a distal end of the surgical instrument into a body cavity, and positioning a portion of tissue between first and second jaw members of the surgical instrument,
transmitting light to the portion of tissue from a first optical fiber having a distal end exposed on the first jaw member,
receiving light from the portion of tissue at a second optical fiber having a distal end exposed on the second jaw member, and transmitting the received light to a sensor.
2. The method of claim 1 , further comprising:
removably positioning a sterile barrier on a manipulator arm, the sterile barrier having an optically transmissive portion;
removably positioning the surgical instrument on the manipulator arm such that the sterile barrier is positioned between a portion of the manipulator arm and a portion of the surgical instrument;
wherein transmitting light to the tissue from the first optical fiber includes transmitting light from the manipulator arm across the optically transmissive portion of the barrier to the first optical fiber.
3. The method of claim 2 , wherein the light source is positioned on the manipulator arm, and wherein removably positioning the sterile barrier on the manipulator arm includes positioning the sterile barrier with the optically transmissive portion covering at least a portion of the light source.
4. The method of claim 2 , wherein the optically transmissive portion of the barrier is a window in the barrier formed of optically transmissive material.
5. The method of claim 2 , wherein the barrier is constructed in its entirety of optically transmissive material.
6. The method of claim 2 , wherein the sensor is disposed on the manipulator arm, and wherein receiving light from the portion of tissue and transmitting the received light to the sensor includes transmitting the received light across the sterile barrier to the sensor.
7. The method of claim 2 , further including using the first or second optical fiber to deliver optical treatment energy.
8. The method of claim 1 , wherein a processor receives from the sensor signals that are indicative of the light detected by the sensor and analyzes the signals to derive or determine tissue information.
9. The method 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 method of claim 1 wherein the sensor is positioned on the surgical instrument, and wherein receiving light from the portion of tissue and transmitting the received light to the sensor includes transmitting the received light to the sensor.
11. The method of claim 1 , wherein the received light is light reflected from the portion of tissue.
12. The method of claim 1 , wherein the received light is light emitted by the portion of tissue.