System to differentiate and identify types of tissue within a region proximate to a working end of a surgical instrument
A surgical system used to determine the presence of a vessel within a region ( 102 ) proximate to a working end ( 104 ) of a surgical instrument ( 106 ) includes at least one light emitter ( 110 ) disposed at the working end ( 104 ) of the surgical instrument ( 106 ), and at least one light sensor ( 112 ) disposed at the working end ( 104 ) of the surgical instrument ( 106 ) and configured to receive light emitted from the at least one light emitter ( 110 ) and reflected from the region ( 102 ), the at least one light sensor ( 112 ) adapted to generate a signal comprising a first pulsatile component and a second non-pulsatile component. The system also includes a controller ( 114 ) coupled to the at least one light sensor ( 112 ), the controller ( 114 ) comprising a splitter ( 116 ) to separate the first pulsatile component from the second non-pulsatile component and an analyzer ( 118 ) to determine the presence of the vessel within the region ( 102 ) proximate to the working end ( 104 ) of the surgical instrument ( 106 ) based on the first pulsatile component.
1. A surgical system configured to differentiate and identify types of tissue within a region proximate to a working end of a surgical instrument, comprising:
at least one light emitter disposed at the working end of the surgical instrument;
at least one light sensor disposed at the working end of the surgical instrument, facing in a common direction as the at least one light emitter, and configured to receive light emitted from the at least one light emitter and reflected from the region, the at least one light sensor configured to generate a signal comprising a first pulsatile component and a second non-pulsatile component; and
a controller coupled to the at least one light sensor, the controller comprising a splitter configured to separate the first pulsatile component from the second non-pulsatile component and an analyzer configured to differentiate between types of nonvascular tissue within the region proximate to the working end of the surgical instrument based on the second non-pulsatile component and to determine the presence of the vessel within the region proximate to the working end of the surgical instrument based on the first pulsatile component.
2. The surgical system according to claim 1 , wherein the analyzer is configured to determine the presence of the vessel according to two or more parameters determined based on the pulsatile component of the signal, the parameters comprising an Eigen-derived metric, an autocorrelation metric, a correlation coefficient metric, and a peak metric.
3. The surgical system according to claim 2 , wherein the analyzer is configured to compare the one or more parameters to a threshold associated with each of the parameters, and is configured to determine that a vessel is present in the region based on at least two of the comparisons between the parameter and the associated threshold.
4. The surgical system according to claim 1 , wherein the controller comprises a processor and memory, and the splitter comprises the processor programmed to separate the first pulsatile component from the second non-pulsatile component and the analyzer comprises the processor programmed to differentiate between types of nonvascular tissue within the region proximate to the working end of the surgical instrument based on the second non-pulsatile component and to determine the presence of the vessel within the region proximate to the working end of the surgical instrument based on the first pulsatile component.
5. The surgical system according to claim 1 , wherein the at least one light emitter is configured to emit light of at least two different wavelengths, and the at least one light sensor is configured to detect light at the at two different wavelengths.
6. The surgical system according to claim 5 , wherein the at least one light sensor is configured to detect light at 660 nm and at 910 nm.
7. The surgical system according to claim 1 , wherein the controller is configured to vary an intensity of light emitted by the at least one light emitter according to an amplitude of the second non-pulsatile component.
8. The surgical system according to claim 1 , further comprising a surgical instrument having first and second opposing jaw elements, the at least one light emitter disposed on the first jaw element and the at least one light sensor disposed on the second, opposing jaw element.
9. The surgical system according to claim 1 , comprising first and second rotating frames, the at least one light emitter disposed on the first rotating frame and the at least one light sensor disposed on the second rotating frame.
10. The surgical system according to claim 1 , wherein the analyzer is configured to differentiate between types of nonvascular tissue according to a normalized non-pulsatile component in at least two wavelengths.
11. The surgical system according to claim 10 , wherein the analyzer is configured to differentiate between types of nonvascular tissue according to a ratio of the normalized non-pulsatile components in at least two wavelengths.
12. The surgical system according to claim 1 , wherein the at least one light emitter is configured to emit light of a first wavelength and light of a second wavelength, and the analyzer is configured to differentiate between types of tissue according to a comparison of the non-pulsatile component of the signal generated in response to the first wavelength and the non-pulsatile component of the signal generated in response to the second wavelength.
13. The surgical system according to claim 1 , wherein the analyzer is configured to determine a thickness of a known type of nonvascular tissue based on the non-pulsatile component.
14. A method of differentiate and identify types of tissue within a region proximate to a working end of a surgical instrument, comprising:
emitting light from at least one light emitter disposed at the working end of the surgical instrument in the direction of the region;
sensing light reflected from the region at the working end of the surgical instrument at at least one light sensor facing in a common direction as the at least one light emitter;
generating a signal having a first pulsatile component and a second non-pulsatile component based on the light sensed at the working end of the surgical instrument;
differentiating between types of nonvascular tissue within the region proximate to the working end of the surgical instrument based on the second non-pulsatile component; and
determining the presence of the vessel within the region proximate to the working end of the surgical instrument based on the first pulsatile component of the signal.
15. The method according to claim 14 , wherein determining the presence of the vessel comprises determining one or more parameters determined based on the pulsatile component of the signal, the parameters comprising an Eigen-derived metric, an autocorrelation metric, a correlation coefficient metric, and a peak metric.
16. The method according to claim 15 , wherein determining the presence of the vessel comprises comparing the one or more parameters to a threshold associated with each of the parameters, and determining that a vessel is present in the region based on at least two of the comparisons between the parameter and the associated threshold.
17. The method according to claim 14 , further comprising separating the first pulsatile component from the second non-pulsatile component.
18. The method according to claim 14 , wherein emitting light comprises emitting light of at least two different wavelengths, and wherein sensing light comprises sensing light of at least two different wavelengths.
19. The method according to claim 14 , further comprising varying an intensity of light emitted according to an amplitude of the second non-pulsatile component.