Figure 1

Integration of the ms-TRFS system into the da Vinci Surgical System. The da Vinci Surgical System is composed of three modules: the surgeon console that enables remote control of the robotic system, the patient cart where the surgical tools are mounted, and the vision tower used as an interface for the endoscopic camera. All components required to perform ms-TRFS measurements are packaged into a compact console. ms-TRFS measurements are performed using a sterile probe consisting of a single multimode fiber, integrated into an Intuitive Surgical tool (EndoWrist 5Fr Introducer). Tile (a) depicts the fiber inserting the sheath and both inserting the introducer. The distal end of the fiber exiting the introducer is shown in tile (b) and with higher magnification in the inset. The imaging computer receives both ms-TRFS data as well as a video stream from the endoscope so that the location of ms-TRFS measurements within the operating field is known. An overlay of the ms-TRFS data onto the video of the surgical field is then sent to the surgeon console for display. All images from the da Vinci Surgical System were reproduced from Intuitive Surgical with written permission.