Master controller device comprising wearable part for robot

Abstract

An unconstrained master controller device (110) for a robotic system for medical or surgical teleoperation, the master controller device comprising at least one wearable portion (210) comprising a pair of wearable elements (211, 212) for a surgeon's fingers (F1, F2), and a control gripper (220) for controlling the wearable elements (211, 212) of the surgeon's fingers (F1, F2), and a control gripper for controlling at least one degree of freedom of a slave surgical instrument (170) associable with the master controller device, where the master controller device (110) comprises at least one degree of freedom of internal orientation allowing at least one wearable element (211, 212) of the pair of wearable elements to be reoriented.

Description

Technical Field

[0001] This invention relates to a master controller device.

[0002] The master controller device according to the invention is conceived as a remote operating system for robotic surgery.

[0003] The main controller device according to the invention is particularly suitable as a type of controller device not subject to the mechanical constraints of an operating console, although not its only purpose.

[0004] The present invention further relates to a robotic system for remote surgical operations, the robotic system including at least one master controller device. Background Technology

[0005] Robotic surgical devices are well known in the art and typically include a central robotic turret or trolley and one or more robotic arms extending from the turret / trolley. Each arm includes a motor positioning system (or manipulator) for distally moving surgical instruments that can be attached thereto in order to perform surgical procedures on the patient.

[0006] In order to control the robotic manipulator and thus the subordinate surgical instruments, the surgeon acts on one or more master controller devices according to a master-slave remote operation architecture.

[0007] In known master devices, buttons are typically provided to transmit control signals to subordinate surgical instruments, and especially when the surgical instruments are provided with open / close (i.e., clamping / cutting) degrees of freedom, the master device includes an interface (e.g., formed by two cantilevered flaps) to actuate such open / close / clamping / cutting degrees of freedom.

[0008] For example, document US-2018-0235719 illustrates a main controller device of the type constrained by an operating console, wherein the main controller device includes a control gripper having two rigid flaps with corresponding wearable rings for receiving the surgeon's fingers.

[0009] In some existing technology examples, the right main unit and the left main unit are each configured as accessories mounted to the operating console and supported by a universal joint system.

[0010] Additionally, master units that are mechanically / kinematically unconstrained by the operating console (according to the terms "unfounded" or "unconstrained" as used in the art) are known, namely, "steering wheel" type master units that are manipulated by a surgeon within a predetermined three-dimensional tracking volume. For example, such unconstrained "steering wheel" master units can be used for unilateral remote operation where force feedback is absent.

[0011] Documents US-2020-0237467 and US-2019-0380791 illustrate some examples of controller devices that are mechanically independent of an operating console, also referred to herein as “user interface devices” (UIDs), and in particular, the main device includes a wearable wrist component for receiving the surgeon’s wrist.

[0012] Documents WO-2019-099584, US-2020-0197115, and US-2020-0390510 disclose some further examples of unconstrained type master devices, in particular in which a ring is provided at the distal end of a rigid rod of a control gripper, which is integrally fastened to the user's finger for better control.

[0013] Furthermore, prior art document WO-2020-188390 illustrates a main controller device solution not constrained by an operating console, which provides a gripping handle having a cantilevered attachment on its top for the surgeon's thumb, forming a joystick or control lever, wherein such joystick or control lever is perforated, i.e., such joystick or control lever is a rigid ring for receiving the surgeon's thumb.

[0014] Unconstrained master units are typically equipped with sensors, such as inertial platforms and / or position and / or orientation sensors, such as magnetometers and / or optical markers, to determine commands to be transmitted to subordinate surgical instruments.

[0015] An example of a master device not constrained by an operating console is shown in document US-2006-0282063, in which the master controller device is equipped with a sensing glove that can be worn by a surgeon.

[0016] In some known examples, a magnetic field transmitter is provided that generates a tracking volume in which the position and orientation of two magnetometer-type sensors with six degrees of freedom, mounted on the body of a master device, are tracked so as to provide a shutdown command signal to a slave device when the distance detected between the sensors is less than a certain threshold. For example, document WO-2022-175800 by the same applicant illustrates an unconstrained master device solution in which the system control unit verifies the existence of a predefined geometric relationship between two tracking sensors suitable for controlling the position, orientation, and opening of the slave surgical device.

[0017] Known solutions for master units not constrained by an operating console, while having some advantages, are not entirely without drawbacks.

[0018] In fact, the kinematics of the joints in the human hand can exert movement on the fingers that manipulate an unrestrained master device, such as transmitting unwanted position coordinates to the slave device, or even worse, causing poor ergonomics during manipulation, such as making the precision of movement, manipulation and control worse, causing user insecurity until the master device falls from the hand, and unwanted command transmissions.

[0019] Therefore, there is a strong need to propose a master device solution, particularly of the type not constrained by an operating console, which has improved ergonomics compared to known solutions to allow for increased accuracy of master-slave remote operation, avoid or at least minimize the problems of restricted movement, malfunction and accidental drops of the master device, while ensuring that the surgeon can easily move the body of the master device between his / her fingers. Summary of the Invention

[0020] The purpose of this invention is to eliminate the drawbacks complained about by referring to the prior art.

[0021] This objective and other objectives are achieved by the apparatus according to claim 1.

[0022] Some advantageous embodiments are the subject of the dependent claims.

[0023] According to one aspect of the invention, a master controller device for a robotic system for remote operation in medical or surgical settings includes: at least one wearable portion including a pair of wearable elements for a surgeon's fingers; and an operating portion for controlling at least one degree of freedom of a subordinate surgical instrument that can be associated with the master controller device.

[0024] The operating part preferably includes a control gripper for controlling at least the open / closed dependent degrees of freedom of an associated dependent device, such as a surgical gripper, surgical scissors, dilator, needle driver / suture cutter, and / or other surgical instruments or microsurgical instruments.

[0025] The control gripper includes one or more sensors or optical markers for determining control signals to the slave device based on the sensors or optical markers, while the wearable portion of the master device is preferably excluded from the control sensor to the slave device.

[0026] According to a preferred embodiment, the control gripper includes two rigid parts having at least one internal degree of freedom therebetween. The at least one internal degree of freedom of the control gripper is preferably a relative degree of movement toward / away from, such as, for example, an opening / closing degree of freedom, suitable for controlling the controlled subordinate degree of freedom of opening / closing of subordinate surgical instruments or another function of a subordinate device when operatively connected to a main controller device.

[0027] The wearable portion of the main controller device includes at least one degree of orientation freedom, which allows at least one of the paired wearable elements to be reoriented relative to the control gripper.

[0028] According to one embodiment, a wearable element is fixed to a control clamp, and another wearable element is mounted to the control clamp, thereby realizing the at least one degree of orientation freedom of the wearable portion. In other words, the at least one degree of orientation freedom of the wearable portion can be realized through a single joint between the wearable element and the control clamp.

[0029] Preferably, reorientation is permitted in at least two directions, such as movement toward / away from the control gripper and rotation about the control gripper. The wearable element may be rigid, i.e., immovable, and not capable of reorientation in one or more directions.

[0030] The at least one degree of freedom allows for the reorientation of two of the paired wearable elements relative to the control gripper.

[0031] Each of the paired wearable elements can be reoriented relative to the control holder independently of the other wearable element, and for example, each wearable element can be reoriented independently of a corresponding rigid portion of the control holder and a corresponding actuating surface of the control holder. According to one embodiment, each wearable element is mounted to be hinged to the control holder, and preferably to a corresponding rigid part of the control holder, wherein the at least one degree of orientation freedom of the wearable portion is achieved by two joints.

[0032] According to another embodiment, the wearable elements in a pair of wearable elements are fixed to each other, and the wearable portion including the pair of wearable elements is rotatably mounted to a control clamp to achieve the at least one degree of orientation freedom of the wearable portion. In such a case, the at least one degree of freedom is arranged, for example, between the wearable portion including the pair of wearable elements and the control clamp.

[0033] The provision of at least one degree of freedom in the wearable portion prevents movement of that at least one degree of freedom in the wearable portion from transmitting commands to the slave device, i.e., to the slave surgical instrument. Otherwise, the degrees of freedom within the sensor-controlled gripper are conceived as controlling the slave device.

[0034] According to some embodiments, the at least one degree of freedom of the wearable portion is formed by one or more joints and / or hinged arms and / or by one or more elastically deformable (bending) portions. For example, each wearable element is mounted on a joint and / or arm among the one or more joints and / or arms.

[0035] The at least one degree of freedom of the wearable portion preferably also allows for the repositioning of at least one of the paired wearable elements relative to the control gripper. For example, the repositioning of the wearable element can be achieved by its reorientation relative to the control gripper. For example, by manipulating the wearable element connected to the corresponding arm with a finger, a repositioning movement of the arm relative to the control gripper, and in particular relative to the corresponding rigid part of the control gripper, can be caused.

[0036] According to one embodiment, reorientation occurs around a definable rolling axis that extends substantially along the longitudinal extension direction of the control gripper and / or along the longitudinal extension direction of the corresponding rigid part. For example, the wearable portion can thus be moved substantially circumferentially about the body of the control gripper. According to one embodiment, the reorientation of the rolling causes a circumferential rotation of a single wearable element relative to the corresponding rigid part of the control gripper. In at least one closed configuration of the control gripper, two opposing manipulation surfaces intended to be manipulated by a surgeon's fingers wearing the corresponding wearable element may be convex, and even more preferably convex and substantially cylindrical about the longitudinal axis, to facilitate rolling movement between the control gripper and the wearable portion.

[0037] According to one embodiment, the reorientation of at least one wearable element is a reorientation in the direction of movement toward / away from the control gripper, which occurs about a definable axis transverse to the longitudinal extension direction of the control gripper, i.e., for example, in a direction substantially parallel to the axis of a rotary joint arranged between rigid parts of the control gripper itself and adapted to determine the internal degrees of freedom of movement toward / away from or on / off the sensing control gripper.

[0038] At least one degree of freedom of the wearable part can be achieved by a connecting element (e.g., an arm) extending between the wearable element and the control gripper. The connecting element (e.g., the arm) may include one or more joints (e.g., rotary joints or ball joints) and / or may include one or more elastically deformable portions.

[0039] Each wearable element preferably includes a wearable ring, which may have a rigid annular body. According to one embodiment, the wearable ring extends cantileveredly from a corresponding arm; for example, the wearable ring cantilevered outwards, i.e., it points substantially radially outwards relative to the approximate longitudinal axis of the control gripper. The arm may extend along a rigid part of the control gripper, and the rigid ring may be cantilevered close to an operating surface disposed on the outer side of the control gripper.

[0040] The arm may include a rotary joint or a ball joint, allowing each wearable element to be reoriented in three orthogonal directions relative to the corresponding rigid part of the control gripper.

[0041] According to one embodiment, the wearable portion of the main controller device includes a pair of sterile clip-on shields or sterile cheek plates that snap onto corresponding rigid parts of a control holder. Each of the pair of clip-on shields includes a wearable element of the pair of wearable elements and preferably also includes a corresponding arm. A sterile cover is typically positioned between each shield and the sensing control holder. The shield is preferably configured to snap onto the body of the control holder via the sterile cover, and for this purpose may include a retaining portion having a plurality of resilient teeth that can be received in corresponding seats disposed on the bodies of the two sensing rigid parts of the control holder, and the plurality of resilient teeth may have rounded ends so as not to damage the sterile cover.

[0042] At least one degree of freedom of the wearable portion can be achieved by one or more elastomers, such as wire springs or leaf springs forming the arms. One or more elastomers may comprise a pair of elastic arms, each arm mounting a corresponding wearable element. The elastic arm in the pair is elastically bendable in the transverse direction relative to the longitudinal axis of the control gripper, and, for example, in the circumferential direction (rolling) and / or toward / away from the longitudinal axis of the control gripper.

[0043] The flexible arm is preferably preloaded toward a stationary configuration spaced apart from the control gripper, i.e., in which the wearable element does not contact the sensing control gripper, and is therefore cantilevered relative to the control gripper even when substantially aligned with it.

[0044] At least one degree of freedom of the wearable part can be achieved by one or more flexible straps or cords that can be interwoven or woven.

[0045] At least one degree of freedom of the wearable component may include one or more degrees of freedom such as orientation or roll and / or pitch and / or yaw. Translational degrees of freedom may be provided, such as linear opening / closing, i.e., toward / away from a linear trajectory, extension / retraction in the longitudinal direction, and buttons. For example, each arm in a pair provides roll, pitch, and yaw mobility for the corresponding wearable element. The three-dimensional mobility of the wearable element may be restricted.

[0046] According to one embodiment, a connecting element (e.g., a connector and / or arm) disposed between the control gripper and the wearable element allows the wearable element to move toward / away from the control gripper, i.e., to open / close.

[0047] With the proposed solution, the orientation workspace can be expanded by manipulating or over-rotating the main controller device in a safe and controlled manner.

[0048] In fact, the control gripper is sensor-based; that is, it is configured to transmit control signals to the slave device, while the wearable part does not have sensors. Therefore, manipulation of it relative to the control gripper is safe and improves the surgeon's ergonomics. It is easy to understand that the sensor of the control gripper can be made into an optical marker without circuitry.

[0049] The wearable portion can be made sterile and, for example, disposable, and can be associated with a sterile cover (by means of the cover or sterile connecting cheek plate).

[0050] According to one aspect of the invention, a master controller device for a robotic surgical teleoperation system includes: a wearable portion including at least one wearable element for at least one finger of a surgeon; and an operating portion (e.g., a control gripper) for controlling at least one degree of freedom of a subordinate surgical instrument associated with the master controller device, the operating portion including one or more sensors for detecting position and / or orientation information of the master device, wherein the wearable portion includes at least one connection element to allow the at least one wearable element to be reoriented relative to the operating portion.

[0051] The at least one connecting element preferably includes an arm, and the at least one wearable element preferably includes a ring, the arm allowing the ring to be reoriented and / or repositioned relative to the operating portion or control gripper. According to one embodiment, the ring can be reoriented relative to the arm. The arm may include a connector and / or an elastically deformable portion. Attached Figure Description

[0052] Further features and advantages of the invention will become apparent from the following description of preferred embodiments, given by way of non-limiting example, with reference to the accompanying drawings, which are briefly described below. It should be noted that references to “one” embodiment in this disclosure do not necessarily refer to the same embodiment, but should be understood to mean at least one. Furthermore, for the sake of brevity and to reduce the total number of drawings, a single drawing may be used to illustrate features of more than one embodiment, and not all elements of that drawing are necessary for a particular embodiment.

[0053] Figure 1 A robotic system for remote medical or surgical operations is illustrated in isometric view according to one embodiment.

[0054] Figure 2 A subordinate surgical instrument according to one embodiment is shown in an isometric view.

[0055] Figure 3 An isometric view shows a main controller device held by a surgeon according to one embodiment.

[0056] Figure 4 Axonometric drawing shown Figure 3 The main device.

[0057] Figure 5 Shown in vertical view Figure 3 The main controller device's control clamp.

[0058] Figure 6A A cross-section of the wearable portion of the main controller device according to one embodiment is shown.

[0059] Figure 6B A main controller device according to one embodiment is shown in isometric view. The main controller device includes... Figure 6A The wearable part.

[0060] Figure 7A The wearable portion of the main controller device according to one embodiment is shown in cross-section and as separate parts.

[0061] Figure 7B A main controller device according to one embodiment is shown in isometric view. The main controller device includes... Figure 7A The wearable part.

[0062] Figure 8A The main controller device according to one embodiment is shown in isometric view and in separate parts.

[0063] Figure 8B The main controller device according to one embodiment is shown in isometric view and in separate parts.

[0064] Figure 9 An isometric view shows a main controller device held by a surgeon according to one embodiment.

[0065] Figure 10A The wearable portion of a main controller device according to one embodiment is shown in an isometric view.

[0066] Figure 10B A main controller device according to one embodiment is shown in isometric view. The main controller device includes... Figure 10A The wearable part.

[0067] Figure 11A A main controller device according to one embodiment is shown in isometric view.

[0068] Figure 11B and Figure 11C schematically shown Figure 11A The main device has some possible degrees of freedom in orientation of the wearable part.

[0069] Figure 12A and Figure 12B The diagram schematically illustrates some of the possible degrees of freedom for the wearable portion of the main device.

[0070] Figure 13A This is an isometric view of the wearable portion of the main device according to one embodiment.

[0071] Figure 13B The wearable portion of the main device according to one embodiment is shown in an isometric view.

[0072] Figure 13C The main device, including the wearable portion of Figure 13A, is shown in an isometric view.

[0073] Figure 14 The wearable portion according to one embodiment is shown in an isometric view.

[0074] Figure 15 The main device according to one embodiment is shown in an isometric view.

[0075] Figure 16A A portion of the main controller device according to one embodiment is shown in schematic cross-section.

[0076] Figure 16B Axonometric drawing shown Figure 16A It is part of the main controller device.

[0077] Figure 17 A wearable element of a master controller device according to one embodiment is shown.

[0078] Figure 18The illustration schematically shows the wearable half being mounted to a control gripper according to one embodiment. Detailed Implementation

[0079] Throughout this specification, references to "embodiment" mean that a particular feature, structure, or function described with respect to that embodiment is included in at least one embodiment of the invention. Therefore, the phrase "in an embodiment" in various parts of this specification does not necessarily refer to the same embodiment. Furthermore, specific features, structures, or functions (such as those shown in different figures) may be combined in one or more embodiments in any suitable manner.

[0080] According to a general embodiment, a master controller device 110 (or master device 110) for a robotic surgery remote operating system 100 is provided.

[0081] The robot system 100 includes at least one slave device 170 that can be controlled by the master device 110.

[0082] For example, Figure 1 As shown, the robot system 100 may include a main console and a slave robot assembly. The main console includes a tracking system 140 for at least one master device 110 and a display 130 for displaying images acquired by a vision system 120. The slave robot assembly includes at least one robot manipulator 160 that moves a slave surgical instrument 170 under the control of at least one master controller device 110.

[0083] For example, Figure 2 As shown, the dependent surgical instrument 170 may include a positioning shaft or rod having a hinged sleeve at its distal end. This hinged sleeve has dependent degrees of freedom in orientation (rolling-pitch-yaw), translation (X, Y, Z), and dependent opening / closing. The dependent degrees of freedom of the dependent surgical instrument 170 may refer to definable virtual control points rigidly associated with the dependent device and, for example, positioned midway between the movable end or jaws of the dependent surgical instrument during opening / closing.

[0084] It should be understood that even if the main controller device 110 is intended for use in a surgical procedure simulation device, the teachings of this disclosure are applicable with the necessary modifications.

[0085] The main controller device 110 is preferably a type of main controller device that is not constrained by the operation consoles 130 and 140.

[0086] Advantageously, the main controller device includes at least one wearable part 210.

[0087] The wearable portion 210 allows the surgeon 150 to hold the main device securely in their hand, avoiding or at least minimizing the risk of the main device being accidentally dropped during remote surgical procedures.

[0088] The wearable portion 210 includes a pair of wearable elements 211, 212 designed to receive corresponding fingers F1, F2 of the surgeon 150's hand. Preferably, each of the pair of wearable elements 211, 212 (e.g., wearable loops) receives fingers F1, F2 of the surgeon's hand (preferably the thumb F2 and the index finger F1). More than two wearable elements may also be provided, for example, a total of three or four wearable loops arranged aligned and / or side-by-side and / or around a definable longitudinal axis of the main device.

[0089] The master controller device 110 further includes an operation section 220 configured to control at least one degree of freedom of a slave surgical instrument 170 that can be associated with the master device. The operation section 220 is sensor-based for controlling the slave device.

[0090] The operating portion 220 of the main device 110 is preferably a sensing-controlled gripper 220, which includes two rigid parts 231, 232 that are movable relative to each other toward / away from the OP / CL, and for example, are movable toward / away from each other when the OP / CL is opened / closed. According to one embodiment, each rigid part of the gripper is sensing-based and includes, for example, a sensor for acquiring information about the position and orientation of the rigid part on which the sensor is mounted, in order to acquire redundant information about the seven degrees of freedom of the gripper (i.e., position, orientation, and open / close (movement away from / towards)).

[0091] For the purposes of this disclosure, the term control gripper 220 is used interchangeably with operating portion 220, although it will be understood that the operating portion may include, for example, radial control buttons to form a control gripper without requiring a body having a gripper shape.

[0092] According to a preferred embodiment, the control gripper 220 includes two opposing manipulation surfaces 221, 222, which are intended to be manipulated by the surgeon's fingers F1, F2, and the two opposing manipulation surfaces are preferably radially outward.

[0093] According to a preferred embodiment, the operation section 220 includes one or more tracking sensors 223, 224 to detect at least some of the following: the position, orientation, and on / off state of the main device (OP / CL). The detection of some of the position, orientation, and on / off state of the OP / CL of the main device is preferably performed by the operation section itself, i.e., the tracking sensors are fixed to the operation section 220. According to a preferred embodiment, the main controller device 110 includes two tracking sensors 223, 224, each having six degrees of freedom (three position degrees of freedom (e.g., x, y, z) and three orientation degrees of freedom (e.g., roll, pitch, yaw)) for detecting the position, orientation, and on / off state of the main device, for example, as shown in the figure. Figure 5 As shown in the diagram. For example, each tracking sensor is fixed to the rigid portions 231, 232 of the control gripper 220. Tracking sensors 223, 224 may include a pair of magnetometer-type sensors that are immersed in the tracking magnetic field when in operation.

[0094] The sensor may include a cable connection 227 for powering the control unit and / or transmitting data. When in operation, the cable connection 227 may extend from the main unit 110, for example, toward the back of a surgeon's hand.

[0095] Tracking sensors 223 and 224 may include optical markers without circuitry.

[0096] The sensor used to detect at least some of the position, orientation, and on / off states of the main device 110 is not necessarily a tracking sensor, and may include: one or more inertial sensors (for detecting on / off states OP / CL) in combination with a proximity sensor and / or other suitable configurations of known sensors.

[0097] The main controller device 110 is preferably a main controller device that is not mechanically constrained by the operating console.

[0098] The main controller device 110 is preferably a wheel-type main controller device for unilateral remote operation without force feedback.

[0099] A further advantage is that the wearable portion 210 of the main controller device 110 includes at least one degree of freedom that allows at least one of the pair of wearable elements 211, 212 to be reoriented relative to the control clamp 220.

[0100] Reorientation preferably occurs along the direction of movement Θ toward / away from the control gripper 220 and / or along the rolling direction around the control gripper 220.

[0101] The at least one degree of freedom of the wearable portion can also allow at least one of the paired wearable elements 211, 212 to be repositioned relative to the control gripper 220. For example, repositioning can be the result of reorientation.

[0102] Preferably, in order to reorient at least one of the pair of wearable elements 211, 212 relative to the control clamp 220, one or more motion joints 217, 250 and / or one or more elastically deformable elements 215, 216 may be provided.

[0103] According to a preferred embodiment, the at least one degree of freedom allows for the reorientation of two wearable elements 211, 212 in the pair of wearable elements relative to the control clamp 220. In other words, each wearable element 211, 212 in the pair of wearable elements can be reoriented relative to the control clamp 220, thus achieving at least one degree of freedom for the wearable portion.

[0104] The at least one degree of freedom is preferably achieved through a degree of freedom within at least one wearable part 210, and the sensing control gripper 220 also includes its internal degree of freedom, which allows relative movement between the two sensing rigid parts 231, 232 of the gripper 220 toward / away from OP / CL, for example, opening / closing OP / CL.

[0105] By providing at least one degree of freedom for the wearable portion, the wearable elements 211, 212 (preferably both) can be reoriented relative to the sensing control gripper 220.

[0106] Therefore, the arrangement of wearable elements 211, 212 itself does not transmit any commands to slave device 170.

[0107] Therefore, the main device can be returned to the surgeon's hand, for example, by moving a finger relative to the sensing portion of the main device, without the risk of transmitting unwanted commands to the slave device or losing grip on the main device during remote operation.

[0108] As mentioned above, the controller device 110 can be a "steering wheel" type unconstrained by the consoles 130 and 140, and can control at least one degree of freedom of the subordinate surgical instruments 170 of the robotic surgical remote operating system. To this end, according to one embodiment, the main device 110 includes a control gripper 220 and a wearable portion 210. The control gripper is monitored, sensed, and capable of transmitting its motion and / or orientation from the robotic system 100 in at least one subordinate degree of freedom. The wearable portion has at least a pair of wearable elements 211, 212 adapted to receive a portion of a surgeon's finger. Therefore, when the main controller 110 is gripped during use, there is at least one relative orientational degree of freedom between the control gripper 220 and the wearable portion 210, such that while held in the hand, the control gripper 220 can be manipulated and rotated between the fingers, while the wearable portion 210 ensures its gripping and movement by means of the constraint of the user's fingers.

[0109] The control gripper 220 preferably comprises two rigid elements 231, 232 (rods) having at least one degree of freedom 230 (or hinge member, or joint) associated with and related to the control of opening / closing of the subordinate surgical instrument 170. Such a hinge member 230 may be an elastic joint 230 or elastic part (not shown) located between the rigid elements 231, 232 of the control gripper 220. The rigid elements 231, 232 of the operating portion 220 may be rods or tabs connected in such opposing joints 230. The rigid elements or parts 231, 232 may be rods extending in a direction that can coincide with the longitudinal direction XX when the control gripper 220 is in the closed state, and the common axis of rotation between the rods 231, 232, identified by the joint 230, is preferably orthogonal to the common longitudinal extension axis XX and the local extension axes of the rods 231, 232 themselves. The elasticity of the connector 230 is designed to bias the rigid parts 231, 232 toward a predetermined opening configuration of the control clamp 220.

[0110] The wearable portion 210 may include two separate wearable halves 210' and 210', which together form the wearable portion 210. For example, as shown in Figure 11- Figure 14 As shown in Figure 16, each wearable half may include wearable element 211 or 212 in a pair of wearable elements.

[0111] For example, Figure 3As shown, the wearable elements are preferably rings 211, 212, which are designed to receive the surgeon's thumb F2 and index finger F1 of hand 150, respectively. The rings in the pair are preferably arranged opposite each other relative to the attachment body 214 or other bodies of the wearable portion 210, and opposite to the control gripper 220. The control gripper 220 preferably comprises two rigid parts 231, 232, and each ring 211, 212 in the pair is movable relative to the control gripper due to the provision of corresponding arms 215, 216 for mounting at least one connector 217. For example, the axis of rotation of connector 217 may be substantially parallel to the axis of rotation of connector 230 located between the rigid parts of the control gripper, allowing the wearable ring to be reoriented relative to the control gripper during opening / closing. Each wearable ring may be fixed to the distal end of its arm such that the wearable ring protrudes radially outward and can form an angle of substantially 90° with the longitudinal extension direction of the arm, such that the surgeon's finger wearing the ring extends substantially along the corresponding arm. The lateral axis connector 217 allows the ring to be moved away from the corresponding sensing rigid part, for example, when the control gripper is in the open configuration, the spring of its connector 230 is at the end of its stroke when open.

[0112] It is readily understood that, although wearable elements 211, 212 are rings according to the preferred embodiment, the term "ring" also refers to a generally annular body for receiving a surgeon's finger, which is not necessarily formed as a closed ring, but can also be an open ring, for example, opened laterally, in which case an annular arc 211, 212 for receiving the surgeon's finger is formed. Therefore, wearable elements 211, 212 can be made into rings that fit onto the corresponding fingers F1, F2, and can be made into substantially rigid, open concave bodies.

[0113] As mentioned above, preferably, the operating portion 220 is configured to at least control the degree of subordination of the subordinate surgical instrument 170 that can be associated with the main controller device 110 (i.e., controlled by the main controller device 110 when in operation). In such a case, the operating portion 220 may include at least one control gripper 220. At least when the control gripper 220 is in a substantially closed configuration, the operating portion 220 or the control gripper 220 can generally extend along the longitudinal direction XX. For example, the longitudinal direction XX can substantially coincide with the central axis between the two rigid parts 231, 232 of the control gripper 220.

[0114] According to a preferred embodiment, the main controller device 110 includes an internal rolling degree of freedom (ROLL) that allows wearable elements (e.g., rings) 211, 212 to rotate around the control gripper 220.

[0115] In other words, the at least one degree of freedom allowing at least one wearable element to be reoriented and repositioned relative to the control gripper includes a rolling degree of freedom about a definable rolling axis that can coincide with the longitudinal extension axis of the control gripper, substantially allowing the wearable element to rotate in a generally circumferential direction relative to and about the longitudinal extension of the control gripper. For example, the term rolling degree of freedom also means a partial rotation of each wearable ring about a partial rolling axis that coincides with the longitudinal extension axis of each rigid part 231, 232 of the control gripper 220, i.e., rotation of each wearable element 211 or 212 about its corresponding rigid part 231 or 232 of the control gripper 220.

[0116] According to one embodiment, between the wearable elements (e.g., rings) 211, 212 of the wearable portion 210 and the control clamp 220, the main device 110 includes a pivotable rolling joint 250 that rotates about a common axis that is substantially longitudinal, i.e., along the longitudinal direction XX, thereby achieving an internal rolling degree of freedom (ROLL). This internal rolling degree of freedom allows angular movement about the common longitudinal axis between the wearable portion 210 and the control clamp 220 along the rolling direction, the angular movement being equal to or less than 90°, and preferably less than 90°. According to one embodiment, the relative angular movement is less than or equal to 60°.

[0117] The rotation of wearable elements (e.g., rings) 211, 212 can be combined about a common rolling axis, or it can be independent of each ring 211 or 212 relative to each other, for example, when the wearable elements (e.g., rings) are rigidly connected to each other (i.e., integrally formed in a rolling rotational manner). However, in this case, the wearable elements (e.g., rings) can be independently reoriented to each other, for example by providing a joint 217 or hinge member 217 on the arms 215, 216, and can move toward / away from each other Θ (which can be substantially rigid in the rolling direction ROLL). For example, in the case where the wearable portion 210 is formed by two separate wearable halves 210', 210”, the rotation of each ring 211, 212 is independent of each other.

[0118] The pivotable joint 250 between the wearable portion 210 and the control clamp 220 can be made by an internal rolling degree of freedom (ROLL) located inside the wearable portion 210 of the main device. In other words, the pivotable joint 250 about the longitudinal axis XX between the wearable portion 210 and the control clamp 220 of the main device 100 can be made by a rolling degree of freedom (ROLL) inside the wearable portion 210. The rolling degree of freedom (ROLL) located inside the wearable portion 210 may include rolling members and / or elastomers and / or straps, such as interwoven or braided ones.

[0119] According to one embodiment, as mentioned above, the wearable portion 210 is pivotally connected to a control holder 220 of the main controller device, such that the control holder can roll relative to the wearable portion about a longitudinal axis XX, forming a pivotable connector 250. The pivotable connector 250 is preferably made as a coaxial pivotable connector.

[0120] As mentioned above, with such a master device 110, the control gripper 220 or operating portion 220 can be reoriented relative to wearable elements (e.g., rings) 211, 212 while remaining restrained to the hand or some fingers by said wearable portion 210. The wearable element (e.g., ring) can be repositioned relative to the control gripper or operating portion without transmitting any commands to the slave device.

[0121] In particular, with such a device 110, for example, Figure 4 As shown, the control gripper can roll relative to wearable elements (e.g., rings) 211, 212 of the wearable portion 210, and in particular, the wearable elements (e.g., rings) rotate together with the rolling relative to the control gripper, while further rotational degrees of freedom about the lateral axis (i.e., rotation away from / towards the ground) are provided by means of joints 217 (hinges) mounted on each of the paired arms 215, 216, which are provided with corresponding wearable elements (e.g., rings) at their ends.

[0122] Even during operation of the gripper 220 in different orientations, particularly during its rolling, the placement of wearable elements (e.g., wearable rings 211, 212) allows the main device 110 to be securely held in the surgeon's 150's hand. Rolling the operating portion 220 between fingers F1, F2 is an action the surgeon 150 may need during remote surgical procedures to reduce nervous tension and to properly manipulate the subordinate surgical instruments 170. With the proposed solution, the main device 110 can be securely attached to the same fingers F1, F2 of the surgeon by means of wearable elements (e.g., rings), which also control the gripper 220 in a rolling manner around the longitudinal axis XX.

[0123] According to a preferred embodiment, the pivotable rolling joint 250 between the wearable portion 210 and the control clamp 220 is a reversible or removable connection, meaning that the wearable portion 210 and the control clamp 220 can be installed and removed if necessary, for example, to place a sterile drape 240 therebetween and / or to reposition the wearable portion and the control clamp relative to each other. A fastening body 214 may be provided, preferably connected to two wearable elements (e.g., rings) 211, 212 via corresponding arms 215, 216, wherein the fastening body 214 is preferably annular and fitted onto the control clamp 220, for example, near the joint 230 located between sensing rigid parts 231, 232. According to a preferred embodiment, the pivotable rolling joint 250 is a coaxial pivotable joint and includes one or more rolling elements, such as ball bearings. The rolling member is not necessarily located between the wearable portion 210 and the control gripper 220, and for example, the wearable portion 210 may include a portion or body 214 fixed to the control gripper and a movable portion 218 (e.g., a movable mounting ring 218 fitted onto the fixed portion 214), wherein wearable elements (e.g., rings) 211, 212 rotate about the body 214, and the rolling member is located between the wearable elements (e.g., rings) 211, 212 and the fixed body 214 (between the movable ring 218 and the fixed body 214). In other words, wearable elements (e.g., rings) 211, 212 for a surgeon's fingers F1, F2 may be mounted to the movable ring 218, which is rotatably mounted to the fixed portion 214, which is fixed to the control gripper 220 of the main device 110.

[0124] According to one embodiment, the allowed rolling motion of the wearable element (e.g., a ring) is synchronized, i.e., it rotates integrally and / or occurs precisely along a circular trajectory about the longitudinal axis XX. In this case, the arms 215, 216 are preferably rigid, and the internal rolling degrees of freedom are achieved by rolling members.

[0125] For example, Figure 9As shown, the pivotable rolling joint between the wearable portion 210 and the control gripper 220 may include one or more resilient connecting elements 215, 216 or resilient arms 215, 216, which are configured to be elastically flexible in the rolling rotation direction ROLL. Alternatively or additionally, the elastomer or resilient arm 215, 216 may be flexible in the opening / closing direction (i.e., toward / away from the direction of movement of the control gripper), thereby forming the at least one degree of freedom of the wearable portion. For example, the elastomer may be made of a wire spring and / or foil spring by providing a folded, elongated element. The flexible elastomer may be made of a polymer material, such as high molecular weight polyethylene (UHMWPE), rubber, or silicone.

[0126] Therefore, according to one embodiment, the arrangement of the elastic elements creates an internal rolling (i.e., substantially circumferential rotation relative to the longitudinal axis of the control gripper 220) degree of freedom ROLL, although it does not necessarily require that the movement of the wearable element (e.g., a ring) must be synchronous and / or must occur precisely along a circular trajectory around the longitudinal axis XX. Furthermore, the arrangement of the elastic arms 215, 216 allows relative movement (reorientation) relative to the corresponding rigid parts 231 or 232 of the control gripper 220 and relative to the corresponding actuating surfaces 221 or 222 facing them, away from / towards the wearable element (e.g., a wearable ring), and away from / towards the separated wearable rings 211 or 212 (reorientation).

[0127] As mentioned above, according to a preferred embodiment, the wearable portion 210 includes a pair of connecting elements 215, 216, such as arms 215, 216, each connecting element mounting a corresponding wearable element 211, 212 of the pair of wearable elements. Arms 215, 216 may be resilient arms or resilient joints that realize the rolling degree of freedom (ROLL). Arms 215, 216 may be resilient arms that realize the movement degree of freedom of the wearable element relative to the control gripper toward / away from Θ. The arms 215, 216 may be made in the form of flexible straps movable relative to the control gripper 220.

[0128] According to one embodiment, a first arm 215 and a second arm 216 are provided, each of which is fitted with a corresponding wearable element 211 or 212 of a pair of wearable elements, wherein, preferably, the wearable element is cantilevered at the end of the corresponding arm 215, 216. Preferably, the wearable element is a ring 211, 212 that cantileveredly protrudes in the open direction (i.e., away from the common longitudinal axis XX). In other words, the wearable element (e.g., ring) 212, 213 of the pair of wearable elements preferably has a rigid body that cantileveredly extends in the external lateral direction. Thus, the ring extends cantileveredly from the corresponding arm away from the corresponding rigid parts 231, 232 of the (opening) control gripper 220 and away from the corresponding operating surfaces 221, 222.

[0129] Each arm 215, 216 may include a connector 217, such as a rotary connector 217, along its extension to allow the wearable element to move relative to the control gripper in a direction toward / away from Θ, or in other words, in an internal / external lateral direction, which is lateral or radial relative to the longitudinal direction. As mentioned above, the two opposing arms may be resilient, and each of them is fitted with a ring of the paired rings in a cantilevered manner at its end. The ring of the paired rings is, for example, a ring with a rigid annular edge.

[0130] Arms 215, 216 may extend substantially in the longitudinal direction XX from the wearable portion 210 of the restraint to the control gripper 220, for example, from the movable portion 218 or the fixed body 214 or by means of the sterile connecting cheek plates 241, 242. Preferably, arms 215, 216 extend along the respective rigid portions 231, 232 of the control gripper 220.

[0131] According to one embodiment, a first wearable portion 210 (and preferably a fixed body 214) fixed to an operating portion 220 includes a through hollow body (e.g., a fixed mounting ring 214) in the longitudinal direction XX, which is fitted onto the second operating portion 220. Preferably, the hollow body is fixed (e.g., interlocked and / or snap-fit) to the second operating portion and may include the internal rolling degree of freedom. When the wearable portion 210 is assembled to the operating portion 220, the arrangement of the hollow body allows the wearable portion 210 to be fitted onto the operating portion, for example, along the longitudinal direction XX. For example, after at least partially reclosing the open / close OP / CL degree of freedom of the control gripper of the operating portion 220, the wearable portion 210 can be fitted onto the operating portion 220 to allow the body of the control gripper 220 to longitudinally pass through the cavity of the fixed body 214.

[0132] According to one embodiment, the rings in the pair are mounted integrally with each other in a rolling rotation manner around a longitudinal axis XX (i.e., around the operating portion 220 of the main controller device 110). In other words, when in operation, the rings preferably roll cooperatively with each other, always positioned substantially relative to each other relative to the body of the operating portion 220, while ensuring the internal rolling freedom ROLL of the main device 110. For this purpose, a movable mounting ring 218 can be provided associated with a fixed portion 214 fixed to the operating portion 220.

[0133] According to one embodiment, the main device includes a sterile cover 240 covering the operating portion 220, which is secured to the operating portion 220 by means of a wearable portion 210. For this purpose, a mounting ring 214 for securing the cover may be provided. According to one embodiment, the sterile cover 240 is positioned between the operating portion and the wearable portion, and preferably between the hollow body of the wearable portion 210 and the operating portion 220.

[0134] According to a preferred embodiment, two opposing covering elements 241, 242 (e.g., sterile clip-on shields or sterile cheek plates 241, 242) are mounted on the control holder 220. These two opposing covering elements are secured to the control holder 220 via the body of the sterile drape 240 to form a manipulation interface for the surgeon's fingers F1, F2. In other words, each sterile clip-on shield 241, 242 can be fitted with wearable elements 211, 212, such that the two sterile clip-on shields are mounted to the rigid parts of the control holder, forming a manipulation interface.

[0135] According to one embodiment, the fixed hollow body 214 of the wearable portion 210 is made of two separate halves 214a, 214b, each half being provided with one of the two wearable elements (e.g., rings) 211, 212. Preferably, the two separate halves are fitted with the movable portion 218 or the movable ring 218, for example, by interlocking and / or snap-fitting.

[0136] As mentioned above, according to a preferred embodiment, the second operating portion 220 (e.g., the control gripper 220) includes two opposing operating surfaces 221, 222 intended to be manipulated by the surgeon's fingers F1, F2. Preferably, the two opposing operating surfaces 221, 222 are convex. According to a preferred embodiment, the two opposing operating surfaces 221, 222 are circumferentially convex about a longitudinal axis and are also substantially cylindrical relative to the same longitudinal axis XX. Therefore, when the control gripper is in the closed position, the internal rolling degree of freedom ROLL of the wearable portion 210 (if configured) can facilitate the rolling of the operating portion between the surgeon's fingers.

[0137] The two opposing operating surfaces 221, 222 of the operating section are preferably movable relative to each other when the OP / CL is opened / closed to command the subordinate degree of freedom of the slave device 170 to open / close the OPEN / CLOSE. For this purpose, sensors can be integrally mounted thereto. As mentioned above, according to one embodiment, the second operating section 220 includes one or more sensors to determine at least one of the following: the position of the master device, the orientation of the master device, and the degree to which the master device opens / closes the OP / CL. Tracking sensors 223, 224 can be integrally opened / closed with the operating surfaces 221, 222 of the operating section 220 of the master device.

[0138] According to one embodiment, the control gripper has two rigid parts 231, 232, each of which has its actuating surfaces 221, 222, the two rigid parts being constrained in a joint 230 to rotate about a common axis, wherein, preferably, the joint is elastically preloaded in an open configuration.

[0139] According to a preferred embodiment, the internal degrees of freedom of the master device 110 (allowing wearable elements (e.g., rings) 211, 212 to rotate relative to the control gripper's manipulation surfaces 221, 222) avoid transmitting commands to the slave device itself. In fact, as mentioned above, the tracking sensor is only located on the operating portion 220, i.e., only on the control gripper 220.

[0140] Each ring 211 or 212 of the first wearable portion can be oriented independently of the other ring 212 or 211. For example, one or more connectors 217 are disposed between the wearable elements (e.g., rings) 211, 212 of the wearable portion 210. At least one connector may be disposed, for example, along a longitudinal extension of the respective arms 215, 216 between the movable body 218 and each respective ring 211, 212.

[0141] For example, Figure 4 As shown, wearable elements 211 and 212 can be two wearable rings that are hinged to the body 214 by means of a rotary joint 217 placed on the respective arms 215 and 216.

[0142] For example, Figure 5 As shown, the control gripper 220 may include two rigid parts 231, 232, each of which is associated with a corresponding tracking sensor 223, 224 in six degrees of freedom (position and orientation), wherein a rotary joint 230 is disposed between the rigid parts, and wherein each rigid part of the control gripper includes an actuating surface 221, 222 located near or at a corresponding wearable ring 211, 212.

[0143] For example, as shown in Figures 6-A and 6-B, the wearable part 210 can be fitted onto the sterile drape 240 covering the operating part 220.

[0144] For example, as shown in Figures 7-A and 7-B, the wearable portion 210 can be formed from two halves 214-a, 214-b, and in particular, the two halves of a fixed hollow body 214 connected together and assembled onto the operating portion 220, the two halves being assembled onto a sterile cover 240 for covering the operating portion 220.

[0145] For example, as shown in Figure 8-A, sterile attachments 241, 242 or cheek plates 241, 242 can be provided, which are connected, for example, via a sterile cover 240 to corresponding rigid parts 231, 232 of the control gripper 220 to manipulate the main device 110 in a sterile environment. Such sterile attachments 241, 242 can utilize their backs to form the operating surfaces 221, 222 of the operating portion.

[0146] For example, as shown in FIG8-B, the wearable part 210 can be assembled to the operating part 220 according to the following steps: (ii) closing the control clamp 220 so that the operating surfaces 221, 222 face each other; (ii) assembling the hollow body 214 of the wearable part 210 from the free end portion of the operating part including the corresponding rigid parts onto the operating part 220.

[0147] For example, as shown in Figures 10-A and 10-B, the wearable arms 215 and 216 can be straps, preferably elastic straps.

[0148] For example, as shown in Figures 11-A, 11-B, and 11-C, the arms 215, 216 of the wearable portion can be straps that can move when opened (arrow ɵ) relative to the corresponding operating surfaces 221, 222 of the control gripper 220 (i.e., away from the longitudinal axis XX, i.e., away from the corresponding rigid parts 231, 232 of the control gripper 220), and can also move about the longitudinal axis XX or about the corresponding rigid parts of the control gripper in a rolling rotation manner.

[0149] For example, as shown in Figures 12-A and 12-B, wearable elements 211, 212 can be rings that fit snugly onto the surgeon's fingers F1, F2, allowing the surgeon to move the wearable elements relative to the corresponding manipulation surfaces 221, 222 of the operating portion 220 in a rolling rotation manner.

[0150] For example, as shown in Figures 13-A, 13-B, and 13-C, the wearable portion 210 may include two separate wearable halves 210', 210" (e.g., a right wearable half 210' and a left wearable half 210), each individual wearable half being connected (e.g., fixed) to a corresponding rigid part 231, 232 of the operating portion 220 by providing a fastening clip 218. According to one embodiment, the fastening clip 218 of each separate wearable half 210', 210" also forms a corresponding operating surface 221, 222, serving as the sterile attachments 241, 242.

[0151] For example, Figure 14 As shown, the wearable halves 210', 210" may include arms 215, 215 and two connectors 217 (e.g., hinges) and a fastening clip 218 for fastening to the operating part 220. In addition, an operating surface 221 may be provided on the fastening clip 218.

[0152] For example, Figure 15 As shown, the rolling ROLL of the pivotable joint 250 can be an internal degree of freedom of the wearable part 210, and in particular an internal degree of freedom of the hollow body 214 of the wearable part, such that the wearable elements 211, 212 rotate simultaneously and cooperatively about the longitudinal axis XX.

[0153] For example, as shown in Figures 16-A and 16-B, a sterile accessory 241 can be provided, which includes an arm 215 and a wearable element 211. The wearable element is coupled to the sensing rigid part 231 of the control gripper 220 via the arm 215, allowing the wearable element to be reoriented and repositioned relative to the manipulation surface 221 and relative to the sensor 223, i.e., relative to the rigid part 231 of the control gripper.

[0154] For example, Figure 17 As shown, a rotary joint (hinge) associated with arm 215 can be provided, which allows the wearable element 211 to be reoriented relative to its corresponding rigid part 231 of the control gripper.

[0155] For example, Figure 18 As shown, arm 215 can be made in the form of a connector (e.g., a ball connector) between sterile accessory 241 and corresponding wearable element 211.

[0156] Referring to the above embodiments, further examples and details of the embodiments will be given below.

[0157] According to one embodiment, the paired wearable elements 211, 212 are constituted by extended and elongated portions 215, 216 or arms 215, 216 or connecting elements 215, 216 that are coupled to or constrained to the operating part 220. According to one embodiment, such extended and elongated portions 215, 216 are flexible or elastic to follow the relative movement between the finger, the wearable part 210 and the control gripper 220.

[0158] According to one embodiment, wearable elements 211, 212 are each connected to or involved in one of the two levers 231, 232 or rigid parts 231, 232 of the gripper 220, and are configured to receive two opposing fingers F1, F2 for controlling the movement, manipulation and opening / closing of the gripper 220 OP / CL.

[0159] According to one embodiment, wearable elements 211, 212 are made of an elastic material that can deform even under weak external forces, or of articulated and flexible straps or articulated mechanical parts / chains. According to a preferred embodiment, wearable elements 211, 212 have one or more degrees of freedom relative to the rigid parts 231, 232 of the control gripper 220, to allow relative movement and safe manipulation of the sensing control gripper when gripped.

[0160] According to one embodiment, the at least one internal orientation degree of freedom of the main device 110 includes a rolling degree of freedom (ROLL), which allows each of the wearable elements 211, 212 to rotate about a corresponding rigid part 231, 232 of the operating part 220. For example, each rigid part 231, 232 may define an extension direction that coincides with a longitudinal direction (XX) when the operating part 220 is in the closed state, wherein each wearable element 211, 212 can at least rollwise move relative to the extension axis of the rigid part 231, 232 of the operating part.

[0161] According to one embodiment, wearable elements 211, 212 are elastic rings with a diameter equal to or smaller than that of a human finger, and the finger is constrained on the elastic ring, but the elasticity and deformability of the elastic ring allow the finger to move relative to the operating part while keeping the ring constrained to the finger.

[0162] According to one embodiment, the wearable element (e.g., a ring) in the pair of wearable elements 211, 212 is a rigid wearable element (e.g., a ring) with a diameter larger than a human finger, and the finger can slide along the surface of the ring in a relative motion with respect to the operating part, keeping the ring in contact with the finger.

[0163] According to one embodiment, the wearable element (e.g., a ring) in the pair of wearable elements 211, 212 is a portion of a wearable element (e.g., an elastic or rigid ring) into which a finger can enter from above (i.e., approach the element from the proximal side) or pass through (i.e., approach the element laterally), but can also slide along the edge or deform the shape of a portion of the ring in relative movement between the hand, the finger, the portion of the wearable element (e.g., the ring), and the operating part 220.

[0164] According to one embodiment, wearable elements 211, 212 are concave and rigid flaps mounted on a rotary joint or ball joint relative to the operating part 220, and fingertips rest therein and can move relative to each other therein.

[0165] According to one embodiment, wearable elements 211, 212 can be directly connected to rigid rods 231, 232 in a distal region, such as near the free ends of rigid rods 231, 232.

[0166] According to one embodiment, wearable elements 211, 212 have connecting elements 215, 216 or arms extending from parts connected to rigid parts 231, 232 of the control gripper, wherein such connecting elements are elongated and flexible and / or elastic to receive relative movement of the wearable parts relative to the sensing parts.

[0167] According to one embodiment, the elongated element is connected to corresponding rigid parts 231, 232 in the proximal region and extends distally without connection to elastic, flexible, or hinged elements to receive relative movement of the wearable part relative to the operating part. For example, in such an embodiment, the elongated element has a wearable element, such as a ring, which is flexible at its free end.

[0168] According to one embodiment, three relative orientation (RPY-roll-pitch-yaw) degrees of freedom are provided between the operating part 220 and the wearable part 210. In other words, three relative orientation degrees of freedom are provided between the wearable part 210 and the operating part 220. Preferably, each of the three orientation degrees of freedom allows a relative angular movement equal to or less than 90°, preferably less than 90°. According to one embodiment, the relative angular movement is less than or equal to 60°. According to one embodiment, one or more relative translational degrees of freedom are also provided between the wearable part 210 and the operating part 220. According to one embodiment, such relative angular movement between the operating part 220 and the wearable part 210 is restricted to an angular offset equal to or less than 90°, preferably less than 90°. According to one embodiment, the relative angular movement is less than or equal to 60°.

[0169] According to one embodiment, such angular movement between the control clamp and the wearable part occurs between the longitudinal extension axes of each wearable ring and the corresponding rigid part 231, 232 or rod.

[0170] According to one embodiment, the angular motion between the operating part 220 and the wearable part occurs relative to the common axis XX, i.e., the overall rolling axis ROLL of the entire main device 110. According to one embodiment, in the wearable element (e.g., a ring), there is only one degree of freedom between the operating part and the wearable part, and this degree of freedom is the rolling degree of freedom ROLL, which rotates about the longitudinal axis XX.

[0171] According to one embodiment, a degree of freedom of motion and a degree of freedom of orientation are allowed between the wearable part and the sensing part.

[0172] According to one embodiment, the sensing portion is covered by a sterile canvas or drape 240 to maintain the sterility of the user's or surgeon's hand. In this case, it is possible for all such wearable elements shown above to be connected to connecting elements 214, 228, which are then integrally connected to the main device via the drape. According to one embodiment, connecting elements are present on the main device regardless of whether it is covered, allowing the user freedom to choose preferred or customized wearable parts and to operate in a sterile environment near the operating table or in a non-sterile environment in a remote area. According to one embodiment, the wearable element has connecting elements 214, 228, and the sensing main device (i.e., the control gripper 220 and / or the rigid elements 231, 232 or rods of the control gripper) is covered.

[0173] According to one embodiment, the wearable elements 211, 212 can each be connected to clip-on shields 241, 242 or cheek plates 241, 242, which can also be connected to rods 231, 232 via a sterile cover 240 that partially or completely covers the operating part 220. For example, the connection can be a press-fit, snap-fit, or geometric interlock. Preferably, each clip-on shield 241, 242 is connected to one of the two rods or rigid parts 231, 232 controlling the gripper.

[0174] According to one embodiment, wearable elements 211, 212 can be attached to and detached from the control holder when covered and when uncovered.

[0175] In one embodiment, the wearable element is part of a single piece.

[0176] According to a general embodiment, a robotic system 100 for medical and / or surgical remote operation includes at least one master controller device 110 according to any of the foregoing embodiments and at least one subordinate surgical instrument 170 operable under the control of at least one master controller device 110.

[0177] At least one dependent surgical instrument 170 may include a dependent surgical instrument as described in any of the foregoing embodiments.

[0178] Preferably, the system 100 is used in remotely operated robotic microsurgery.

[0179] With the features provided individually or in combination above, where applicable, the aforementioned needs can be met, and the listed advantages can be obtained, in particular:

[0180] - It avoids the risk of the main device and its control gripper accidentally falling off, while allowing the rigid parts of the control gripper to make various reorientation and / or repositioning movements between the surgeon's fingers;

[0181] - Degrees of freedom are provided within the main device, and preferably within the wearable portion of the main device, the activation of which does not result in the transmission of any commands to the subordinate device, which facilitates ergonomic and secure gripping by the surgeon, making the device suitable for long and strenuous remote operation sessions.

[0182] - Preferably, the degrees of freedom within the main device can be achieved through a rotary joint between the wearable element and the corresponding rigid parts of the sensing control gripper, or through one or more elastically bendable parts, or through a coaxial rotary joint with rolling members.

[0183] - Preferably, the connecting arm is disposed between each ring and the corresponding rigid part of the control gripper, the arm being, for example, a hinged and / or elastically bendable and / or easily flexible arm, similar to a strap;

[0184] - The presence of a possible sterile cover covering the sensing portion of the main device will not inhibit the use of the aforementioned degrees of freedom of the main device;

[0185] - In particular, the arm can be positioned between each wearable element and its corresponding sterile cheek plate, which can be connected to the control gripper via the body of the sterile drape;

[0186] - When held in the hand, the operable parts can be manipulated and rotated between the fingers, while the wearable parts rely on the restraint of the user's fingers / hands to ensure grip and movement ("fall safety").

[0187] It is readily understood that the combination of features in the appended claims forms the entirety of this specification.

[0188] However, those skilled in the art can make several modifications and adjustments to the above embodiments, and can replace elements with functionally equivalent elements without departing from the scope of the appended claims.

[0189] List of reference numerals

[0190] 100 robotic systems for remote medical and / or surgical operations

[0191] 110 Main controller device, or main device

[0192] 120 vision system

[0193] 130 Operation console monitor

[0194] 140 Operation console with tracking device

[0195] 150 operators, users, or surgeons

[0196] 160 robot manipulator

[0197] 170 Dependent devices or dependent surgical instruments

[0198] Wearable component of the 210 main device

[0199] 211 First wearable element or ring

[0200] 212 Second wearable element or ring

[0201] 213 cavity

[0202] 214 Fixed main body, or fixed main body

[0203] 214a first half

[0204] 214b Second Half

[0205] 215 First Arm

[0206] 216 Second Arm

[0207] 217-arm rotary joint

[0208] 218 movable parts

[0209] 219 Interlocking Devices

[0210] 220 Main unit operation section, or control gripper, or sensing section

[0211] 221 First Control Surface

[0212] 222 Second Control Surface

[0213] 223 First sensor or marker

[0214] 224 Second sensor or marker

[0215] 227 cable connection

[0216] 228 Fixed Part

[0217] 230 is the joint located between the rigid parts of the control clamp.

[0218] 231 The first rigid component of the control clamp

[0219] 232 Control clamp's second rigid component

[0220] 240 sterile drapes

[0221] 241 First sterile shield, or sterile cheek plate

[0222] 242 Second sterile shield, or sterile cheek plate

[0223] 250 pivotable joints, such as around the clamp.

[0224] XX longitudinal common axis

[0225] OPEN / CLOSE: Degrees of freedom for opening / closing the slave device

[0226] OP / CL controls the opening / closing freedom of the gripper, or its orientation / reverse movement.

[0227] Θ Degrees of freedom of movement toward / away from the wearable device

[0228] ROLL refers to the rolling degree of freedom around the control gripper.

[0229] F1, F2 surgeons' fingers

Claims

1. A main controller device (110) for a remote operating system for robotic surgery, the main controller device comprising: At least one wearable portion (210) includes a pair of wearable elements (211, 212) for use with a surgeon's finger. as well as A sensing control gripper (220) for controlling at least one subordinate degree of freedom of a subordinate surgical instrument (170) that can be associated with the main controller device, the control gripper comprising two rigid parts (231, 232) that can move relative to each other. The main controller device (110) includes at least one orientation degree of freedom, which allows at least one of the paired wearable elements (211, 212) to be reoriented relative to the control holder (220).

2. The apparatus according to claim 1, wherein, The at least one degree of orientation freedom allows two wearable elements (211, 212) of the pair of wearable elements to be reoriented relative to the control clamp (220); and wherein, preferably, the at least one degree of orientation freedom allows each of the pair of wearable elements to be reoriented independently.

3. The apparatus according to claim 1 or 2, wherein, The at least one orientation degree of freedom allows for the repositioning of at least one of the paired wearable elements (211, 212) relative to the control gripper (220); and wherein, preferably, the at least one orientation degree of freedom includes, for example, the degree of freedom to reposition, translate, at least one of the paired wearable elements (211, 212) relative to the control gripper (220).

4. The apparatus according to any one of the preceding claims, wherein, The at least one orientation degree of freedom includes the rotational degree of freedom of the wearable element (211, 212) about the control gripper (220).

5. The apparatus according to any one of the preceding claims, wherein, The at least one orientational degree of freedom includes the rotational degree of freedom of each of the wearable elements (211, 212) about a corresponding rigid portion (231, 232) of the control gripper (220).

6. The apparatus according to any one of the preceding claims, wherein, The at least one orientation degree of freedom includes the motion degree of freedom of at least one of the paired wearable elements (211, 212) toward / away from the control gripper (220); and wherein, preferably, each wearable element (211, 212) is capable of moving independently toward / away from the corresponding rigid part (231, 232) of the control gripper.

7. The apparatus according to any one of the preceding claims, wherein, The at least one orientation degree of freedom, and preferably each of the three orientation degrees of freedom, allows a limited angular movement equal to or less than 90°, and preferably less than 90°, and even more preferably less than or equal to 60°.

8. The device according to any one of the preceding claims, comprising at least one sterile cover (240) to cover the control holder (220) and secure to the control holder by means of the wearable portion (210).

9. The apparatus according to any one of the preceding claims, wherein, The wearable portion (210) is formed by two separate wearable halves, such as sterile shields (241, 242), each wearable half including a wearable element (211, 212) and a fixing portion thereof, the fixing portion being to be secured to the control gripper, and specifically to be snapped into a corresponding rigid part (231, 232) of the control gripper; and wherein the wearable element (211, 212) of each wearable half is movable relative to its corresponding fixing portion to be secured to the control gripper according to at least one degree of freedom; and wherein, Preferably, each of the two wearable halves or sterile shields includes its manipulation surface (221, 222), which forms a manipulation interface for the surgeon's fingers wearing the corresponding wearable element (211, 212) of the main device.

10. The apparatus according to any one of the preceding claims, wherein, The wearable portion (210) includes a pair of arms (215, 216), each arm mounting a corresponding wearable element (211, 212) of the pair of wearable elements, the arms realizing the at least one degree of freedom that allows at least one wearable element (211, 212) of the pair of wearable elements to be reoriented relative to the control gripper.

11. The apparatus according to claim 10, wherein, Each arm (215, 216) is, for example, an arm that is elastically deformable in three spatial directions and is preloaded relative to the control gripper toward a predetermined static configuration.

12. The apparatus according to claim 10 or 11, wherein, Each arm (215, 216) includes one or more connectors, such as one or more rotary connectors and / or ball connectors, which allow two of the paired wearable elements (211, 212) to be reoriented independently; and wherein, for example, the one or more connectors are elastically preloaded toward a predetermined static configuration.

13. The apparatus according to claim 10, 11 or 12, wherein, Each of the arms (215, 216) includes a rotary joint (217) for movement of the wearable element (211, 212) toward / away from the control gripper (220); and wherein, preferably, the rotary joints (217) of the arms (215, 216) have substantially parallel axes, also substantially parallel to a definable axis of rotation between the rigid parts of the control gripper.

14. The apparatus according to any one of claims 10 to 13, wherein, Each wearable element (211, 212) is made into a rigid ring extending in a cantilever manner from its corresponding arm (215, 216) in a direction away from the control gripper (220).

15. The apparatus according to any one of claims 10 to 14, wherein, Each arm (215, 216) extends along the corresponding rigid part (231, 232) of the control gripper (220) and is preferably substantially parallel to the rigid part.

16. The apparatus according to claim 15, wherein, Each arm (215, 216) is elastically preloaded toward the open, stationary configuration, in which the wearable element does not contact the control gripper.

17. The apparatus according to claim 10, wherein, Each arm (215, 216) is formed by flexible straps or ropes.

18. The apparatus according to any one of the preceding claims, wherein, The control gripper (220) includes one or more optical sensors or markers to determine at least one of the following: the position of the main controller device, the orientation of the main controller device, and the degree of open / close (OP / CL) of the main controller device; and wherein, Preferably, the control gripper (220) includes two tracking sensors (223, 224) or optical markers to determine the position of the main controller device, the orientation of the main controller device, and the degree of opening / closing (OP / CL) of the main controller device; and wherein, Preferably, the control gripper (220) includes two sensors respectively fixed to two rigid parts (231, 232) of the control gripper; and / or wherein The main controller device (110) is of a type that is not constrained by the operating console.

19. A robotic system (100) for remote surgical operations, the robotic system comprising: - At least one main controller device (110) according to any one of the preceding claims, and - At least one subordinate surgical instrument (170) that is operable under the control of the control gripper (220) of the at least one main controller device (110).

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