Non-grounded master controller apparatus for master workstation for medical or surgical teleoperation and control method

Abstract

A master workstation (101) for a robotic system (100) for medical or surgical teleoperation, the master workstation comprising at least one mechanically ungrounded master controller device (110) having a support or handle (111) comprising a surface (112) for a palm of a surgeon's hand, a control gripper (113) for gripping the surface (112) of the palm of the surgeon's hand, a control gripper mounted to the support (111) and comprising two opposing manipulation interfaces (115, 116) for the fingers of the surgeon's hand; and wherein the control gripper (113) comprises a first rigid member (117) and a second rigid member (118) placed side by side; the first rigid member (117) is constrained to rotate about a first axis relative to the support (111); the second rigid member (118) is constrained to rotate relative to the support (111) about a second axis coincident with or parallel to the first axis; the tracking system is configured to detect information about the position and orientation of a first rigid member (117) and a second rigid member (118) controlling the gripper (113), respectively.

Description

Technical Field

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

[0002] The present invention also relates to a master workstation assembly including at least one master controller device.

[0003] The master controller device according to the invention is particularly suitable for remotely operated robotic surgical systems, which include slave devices operable under the control of the master controller device. Background Technology

[0004] Robotic surgical instruments are generally known in the art and typically include a central robotic turret or cart and one or more robotic arms extending from the turret / cart. Each arm includes an electrically powered positioning and orientation system (or manipulator) for moving surgical instruments that can be attached distally thereto to perform surgery on a patient.

[0005] Equally common are “dependent” surgical instruments with a distal hinge, preferably an orientation and clamping hinge, which is also mechanically controlled by a manipulator via a mechanical connection interface.

[0006] Patients typically lie on an operating table in an operating room that is kept sterile to avoid bacterial contamination from the non-sterile parts of robotic instruments.

[0007] 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.

[0008] In known master devices, buttons are typically provided to transmit control signals to subordinate surgical instruments.

[0009] Other known master controller devices include articulated structures for supporting manipulated parts, adapted to record or detect the movement (translation) of such clamped and manipulated parts in space, as illustrated in examples in US-5808665 and WO-2020-188390.

[0010] In some existing technology examples, the right and left master devices are each configured as accessories mounted to the operation console and supported by a gimbal system suitable for detecting directional input.

[0011] Additionally, master devices of a type that are mechanically / kinematically unconstrained by an operating console (according to the terms "ungrounded," "unconstrained," or "UID" used in the art), namely "steering wheel type" master devices, are known to be operated by a surgeon within a pre-defined three-dimensional tracking volume. Such ungrounded "steering wheel" master devices can be used for unilateral remote operation without force feedback.

[0012] For example, as shown in the prior art document WO-2019-220407 of the same applicant, an elastic element, particularly a preloaded trigger in a cantilever position between two rigid bars, can be provided. This trigger is capable of simulating a feedback to the surgeon, increasing the resistance to bar closure, when the opening / closing angle between the bars of the main device is less than a specific pre-defined threshold. A similar technical solution is disclosed by US-6594552, showing a main device with different stiffnesses during closure.

[0013] Ungrounded master devices are typically equipped with sensors, such as inertial platforms and / or position and / or orientation sensors, such as magnetometers and / or optical markers, to transmit commands to subordinate surgical instruments. 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, positioned on the body of the master device, are tracked to provide a shutdown command signal to the subordinate device when the detection distance between the sensors is less than a certain threshold.

[0014] For example, document WO-2022-175800 by the same applicant discloses a non-grounded master device technology solution, in which the system control unit verifies whether a predefined geometric relationship exists between two sensors integrated into the master device itself.

[0015] For example, WO-2022-175792 by the same applicant discloses a technical solution in which a subordinate surgical instrument is uniquely identified by means of a virtual control point located in the half between the two ends (or “grippers”) of the surgical instrument, which, in the main workspace, can coincide with the midpoint between the sensors of the rods mounted to the body of the main device.

[0016] For example, WO-2022-175802 by the same applicant discloses a security system for an ungrounded master device, which is designed to disable remote operation when excessive acceleration / velocity is detected by an integrated sensor.

[0017] The known technical solutions for the main device are not limited to the aforementioned operation console. Although they have some advantages in certain aspects, they are not entirely without disadvantages.

[0018] In fact, known ungrounded master controller devices may slip, slide, collide with objects, or even fall from the hand during operation, causing unexpected and unnecessary movement of the end actuators of the remote operating system, thereby causing harm to the patient.

[0019] Once gripped, ungrounded master controller devices may feel uncomfortable to operate, or cause limitations on the precision of their degrees of freedom during operation.

[0020] WO-2019-099584 and US-2020-0390510 disclose further examples of ungrounded master devices, particularly a technical solution that includes a handle or grip that can be worn by a surgeon, the handle or grip being equipped with a special loop for the surgeon's fingers, the loop also being connected to an open / close command operating part by means of a ball joint. A similar technical solution is disclosed in US-2020-0237467, in which the wearable part of the master device is a wristband, and an articulated connection extends from the wristband to a sensing part of the master controller device, including a tracking sensor and a button for activating an open / close command.

[0021] While some aspects of instability have been addressed, the proposed embodiments of the main device have a large number of mechanical and electronic components, high structural complexity, and are difficult to sterilize or cover for aseptic operation. Finally, the kinematic structures are too complex to allow for simple and free manipulation of the natural degrees of freedom of the hand, thus affecting control, precision, accuracy, and range of motion.

[0022] Therefore, there is a strong need to propose a master device solution with improved ergonomics and safety compared to known solutions, without resulting in reduced accuracy of master-slave remote operation or limitations on relative range of motion or sterility.

[0023] At the same time, it is believed that there is a need to provide an intuitive and ergonomic master device that can guarantee satisfactory reliability in controlling multiple degrees of freedom of subordinate devices, including the open / close degree of freedom, i.e., the clamping and / or cutting of surgical instruments of subordinate devices. Summary of the Invention

[0024] The purpose of this invention is to eliminate the drawbacks complained about by referring to the prior art.

[0025] This objective and other objectives are achieved by the components as described in claim 1 and the method as described in claim 18.

[0026] Some advantageous embodiments are the subject of the dependent claims.

[0027] According to one aspect of the invention, a master workstation component for a robotic system for remote medical or surgical operations includes at least one mechanically ungrounded master controller device adapted to control at least one open / close degree of freedom and one deflection degree of freedom of subordinate surgical instruments of the robotic system, and a tracking system for detecting information on the position and orientation of the master controller device.

[0028] The ungrounded master controller device includes a support or handle and a control gripper, the support or handle including a surface for the palm of a surgeon's hand, the control gripper being mounted to the support and including two manipulation interfaces for the fingers of the surgeon's hand.

[0029] The control gripper includes a first rigid member and a second rigid member placed side by side. The first rigid member is constrained to rotate about a first axis relative to a support member, and the second rigid member is constrained to rotate about a second axis relative to the support member that coincides with or is parallel to the first axis. A tracking system is configured to detect information about the position and orientation of the first and second rigid members of the control gripper, respectively.

[0030] The angular travel of the first rigid component is preferably superimposed on the angular travel of the second rigid component, and according to one embodiment, the corresponding angular travels of the two rigid components controlling the gripper substantially overlap.

[0031] Tracking information regarding the position and orientation of the main controller device is preferably obtained by means of two identifiers (e.g., sensors) with six degrees of freedom and open / close information between rigid components, each rigid component having one identifier.

[0032] Therefore, the control gripper is a sensing control gripper used to detect at least the open / close degree of freedom and the deflection degree of freedom. Thus, the handle or support can be transparent to the tracking system, serving as an ergonomic component to apply specific positions of the surgeon's hand and fingers onto the main controller device to operate at least the dependent degrees of freedom of opening / closing and deflection.

[0033] Therefore, it allows the surgeon's fingers (e.g., index finger and thumb) to open / close and deflect the slave device, thus allowing for more precise control over the micro-movements of the deflection joints of the slave surgical instruments controlled by the master controller device, relative to the surgeon's use of the wrist or elbow to activate them. A support or handle including a surface for the surgeon's palm, where the surgeon applies their fingers to specific locations on the sensing-controlled gripper, is provided.

[0034] Another translational and / or rotary joint can be provided, arranged between the control gripper and the support or handle, to allow additional degrees of freedom of the subordinate device to be manipulated with the same fingers of a surgeon.

[0035] It may include a resilient element for biasing another connector toward a predetermined position. Attached Figure Description

[0036] Further features and advantages of the invention will become apparent from the following description of 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 are 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.

[0037] Figure 1 A perspective view of a robotic system for remote medical or surgical operations is shown according to one embodiment.

[0038] Figure 2 A perspective view of a dependent surgical instrument according to one embodiment is shown.

[0039] Figure 3A , Figure 3B , Figure 3C and Figure 3D A schematic perspective view of a main controller device according to one embodiment is shown, which is held in an open and closed configuration by the hand of a surgeon.

[0040] Figure 4 A tracking device for a main workstation component according to one embodiment is illustrated schematically.

[0041] Figure 5 and Figure 6 A tracking device for a main workstation component is illustrated schematically according to some embodiments.

[0042] Figure 7A , Figure 7B , Figure 7C , Figure 7D , Figure 7E and Figure 7F The diagram schematically illustrates some possible configurations of the control gripper and control points of the main controller device according to one embodiment.

[0043] Figure 8 A master controller device according to one embodiment is illustrated schematically.

[0044] Figure 9A and Figure 9BA perspective view and a top view of a main device according to one embodiment are shown, the main device including a joint between a support or handle and a control clamp, wherein some parts are shown in cross-section for clarity.

[0045] Figure 10A A perspective view of a main controller device according to one embodiment is shown.

[0046] Figure 10B yes Figure 10A A longitudinal cross-sectional view of the main controller device.

[0047] Figure 10C It shows Figure 10A A cross-sectional view of the joint between the support or handle of the main controller device and the control clamp.

[0048] Figure 11 The illustration shows a main controller device according to one embodiment when held by a surgeon.

[0049] Figure 12A and Figure 12B A vertical perspective view illustrating some possible configurations of the handle or support of the main controller device according to some embodiments is shown.

[0050] Figure 13A and Figure 13B This is a schematic diagram of a main controller device in a certain operating configuration according to one embodiment, the main controller device including a joint between a control gripper and a handle or support.

[0051] Figure 14 A longitudinal cross-sectional view of a main controller device according to one embodiment is shown.

[0052] Figure 15A and Figure 15B A cross-sectional view of a main controller device according to some embodiments is shown.

[0053] Figure 16 A perspective view of a main controller device and a reference view of a main workstation according to one embodiment are shown.

[0054] Figure 17 A perspective view of a main controller device according to one embodiment is shown.

[0055] Figure 18 The illustration shows a main controller device held by a surgeon according to one embodiment. Detailed Implementation

[0056] Throughout this specification, references to "embodiment" indicate 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, in one or more embodiments, particular features, structures, or functions, such as those shown in different figures, can be combined in any suitable manner.

[0057] According to a general embodiment, a main workstation component 101 (or main workstation 101) is provided.

[0058] The main workstation component 101 is particularly suitable for robotic systems 100 used for remote medical or surgical operations.

[0059] The robotic system 100 also includes at least one subordinate surgical instrument 170, which can be moved under the control of the master controller device 110 according to a master-slave remote operation architecture.

[0060] The dependent surgical instrument 170 includes a hinged end with at least one rotary joint located between a support link 173 and two corresponding end links 171, 172 (or grippers 171, 172) for moving the end links 171 and 172 relative to a support, preferably about a common axis of rotation Y or a deflection axis of rotation Y of the dependent surgical instrument 170. The end links or grippers preferably have a free end and a root for attachment to a hinge pin defining the deflection axis of rotation Y of the hinged end of the dependent surgical instrument.

[0061] The articulated end 175 of the dependent surgical instrument 170 may further include a proximal link 174, which is hinged to and arranged proximally relative to the support link 173 to allow the support link 173 to move about a pitch axis of rotation P. The articulated end of the dependent surgical instrument may also include a rolling degree of freedom, for example, allowing the articulated end to rotate about a longitudinal axis R or a rolling axis R, which preferably extends along a positioning rod or shaft 176 of the dependent surgical instrument 170.

[0062] Preferably, the links 171, 172, 173 of the hinged end 175 of the subordinate device are moved by means of actuating ribs 177, for example, each link includes two actuating counter-ribs.

[0063] According to a preferred embodiment, each end link 171, 172 or gripper 171, 172 moves by means of two actuating ribs having an antagonistic effect. In other words, each end link 171, 172 is hinged to the support link 173 on the deflection rotation axis Y and moves accordingly. Thus, the opening / closing degrees of freedom (e.g., clamping or cutting) and deflection degrees of freedom of the hinged end 175 of the dependent surgical instrument 170 can be obtained. In other words, the deflection and opening / closing degrees of freedom of the dependent surgical instrument 170 are obtained through rotary joints of the hinged end 175 of the dependent surgical instrument 170, which are preferably actuated by means of actuating ribs.

[0064] The main workstation assembly 101 includes at least one main controller device 110 and at least one tracking device, the main controller device being of a type mechanically independent of the operating console, and the tracking device being used to detect the position and orientation information of the main controller device 110 within the tracking volume.

[0065] The main controller device 110 is a type that is mechanically unconstrained by an operating console, that is, a type that is not connected to the ground (“ungrounded”, “UID”, “movable in free workspace”), and preferably a steering wheel type of main controller device 110 without force feedback.

[0066] The main controller device 110 is adapted to control at least one open / close degree of freedom and at least one deflection degree of freedom of the subordinate surgical instrument 170 of the robotic system. In other words, by means of the ungrounded main controller device 110, the movement of at least two end links 171, 172 relative to the support link 173 of the hinged end 175 of the subordinate surgical instrument 170 is controlled.

[0067] For example, such as Figure 3A As shown in Figure -D, the main controller device 110 includes a handle 111 or a support 111, the handle or support including a surface 112 for the palm P1 of the surgeon's hand H1, and a control gripper 113, which is mounted to the support 111 and includes two opposing manipulation interfaces 115, 116 for the fingers F1, F2 of the surgeon's hand H. The manipulation interfaces 115, 116 are arranged relative to the definable longitudinal axis XX of the control gripper, such that movements of the surgeon's fingers (e.g., the index finger F1 and thumb F2 of hand H) are intended to close the control gripper toward the definable longitudinal axis.

[0068] According to a preferred embodiment, the support 111 is a handle 111 that forms the grip of the main controller device 110. The body of the handle or support may be obtained, for example, by molding or by additive manufacturing (e.g., 3D printing), to provide the surgeon's hand with composite ergonomic features to optimize the grip on the control gripper.

[0069] Advantageously, the control gripper 113 includes a first rigid member 117 and a second rigid member 118. The first rigid member 117 is constrained to rotate relative to the support member 111 about a first axis aa, while the second rigid member 118 is constrained to rotate relative to the support member 111 about a second axis a'-a', which coincides with or is parallel to the first axis aa. Therefore, when the first axis aa and the second axis a'-a' coincide, the first and second rigid members of the control gripper 113 are constrained to rotate relative to the support member 111 about a common axis aa. The relative approach / away movement between the rigid members of the control gripper preferably occurs in a predetermined plane orthogonal to axes aa, a'-a'.

[0070] The rigid components 117 and 118 preferably have rigid and elongated bodies. The rigid components 117 and 118 of the control gripper 113 are preferably rigid rods or flaps, each having a free end 127, 128 and a root for attachment to connectors 114, 114'. Because the rigid components 117 and 118 are affected by the elastic element 126 when open, the rigid components preferably extend substantially straight, i.e., straight away from the handle and offset from each other.

[0071] The control gripper 113 preferably does not include any sensing element between the rigid members 117, 118, so that the rigid members can sweep a wide angular amount, and according to a preferred embodiment, the rigid members 117, 118 are capable of sweeping substantially overlapping or superimposed angular amounts, i.e., they can move independently or jointly within the same angular range. Thus, for example, when in an operational state, i.e. when the surgeon 150 holds the handle on the interface portions 115, 116 of the rigid members 117, 118 of the control gripper with the index finger F1 and thumb F2, the two rigid members can be oriented relative to the handle, i.e., oriented relative to a central reference position, within an angular travel β of sweeping 45° to the right and 45° to the left of the handle.

[0072] A further advantage is that the tracking system is configured to detect information regarding the position and orientation of the first rigid component 117 and the second rigid component 118 of the control gripper 113, respectively. In other words, the main workstation assembly 101 detects information regarding the position and orientation of each rigid component 117 or 118 of the control gripper 113 of the main controller device 110.

[0073] Therefore, the control gripper is the part sensed and used to control the subordinate surgical instrument, while the handle or support is ergonomically designed, although, according to one embodiment, the handle or support is equipped with one or more buttons or other commands for operating the functions of the subordinate device, such as changing the master-slave scaling factor. Thus, when the control gripper is sensed (i.e., it can be read by the tracking system by providing appropriate identifiers arranged on the rigid components of the control gripper), the handle or support is transparent to the tracking system.

[0074] According to a preferred embodiment, the tracking system includes a reference 106 defining a primary reference frame MFO and two identifiers 107, 108 fixed to corresponding rigid components 117, 118 of the control gripper 113 to detect information regarding the position and orientation of each rigid component 117 or 118 relative to the reference 106. For example, each identifier 107, 108 defines a local reference frame MF1, MF2 fixed relative to the corresponding rigid component 107 or 108 of the control gripper 113.

[0075] For example, such as Figure 4 As shown, according to a preferred embodiment, the tracking system includes two tracking sensors 107, 108, such as magnetometer-type sensors, each tracking sensor being fixed to a corresponding rigid component 117, 118 of the control gripper 113 as an identifier, and a tracking field generator 106, such as a magnetic field generator, as the reference.

[0076] For example, Figure 5 As shown, the tracking system may include two optical markers 107, 108, each fixed to a corresponding rigid component 107, 108 of the control gripper 113 as an identifier, and an optical detector 106, such as a camera, as a reference. The identifiers 107, 108 may be the rigid components 117, 118 themselves or a portion thereof, such as the distal portion having a free end.

[0077] For example, Figure 6 As shown, the tracking system may have two encoders mounted to the support 111, and each encoder is operatively associated with a corresponding rigid component 117, 118 of the control gripper 113. Identifiers 107, 108 may be the rigid components 117, 118 themselves or portions thereof, such as the distal portion having a free end.

[0078] According to a preferred embodiment, the control gripper 113 includes an elastic element 126 (e.g., between the first rigid member 117 and the second rigid member 118) located between the first rigid member 117 and the second rigid member 118. Figure 7A(Schematally shown in the diagram), the elastic element biases the first rigid member 117 and the second flexible portion 118 away from each other. The elastic element of the control clamp 113 may include a torsion spring of a rotary joint (e.g., pin type) mounted between the rigid members 117, 118. The elastic element of the control clamp 113 may include an axial spring, such as a helical spring, arranged between the rigid members 117, 118 of the control clamp 113.

[0079] The surgeon 150 needs to bring the manipulation interface portions 115, 116 and the rigid portions 117, 118 of the control clamp closer together to counteract the elastic biasing effect, thereby closing the control clamp 113. This includes the elastic elements that allow the first rigid component 117 and the second rigid component 118 to be biased away from each other.

[0080] The inclusion of an elastic element 126 that biases the first rigid member 117 and the second rigid member 118 away from each other allows for the determination of a static configuration of the control clamp 113, which has a certain distance and / or angle between the identifiers 107 and 108.

[0081] The tracking system can be configured to calculate a control point PC (a virtual point associated with the rigidity of the control gripper) based on information detected regarding the position and orientation of the first rigid member 117 and the second rigid member 118 of the control gripper 113, respectively. This control point contains information about the position and orientation of the control gripper 113. Preferably, the control point PC is calculated as the midpoint between the rigid members of the control gripper, i.e., the midpoint between the detection positions of identifiers 107 and 108. In other words, the control point PC may contain information for controlling the deflection degree of freedom Y of the dependent surgical instrument 170, i.e., the overall orientation of the end links 171, 172 or grippers 171, 172 of the articulated ends 175 relative to the support link 173. Therefore, the control point PC between the rigid members 117 and 118 can be a virtual point not part of the main body of the main device, since no sensing element is provided between the two rigid members to allow for the superimposed angular travel β of the rigid members used to control the deflection degree of freedom Y of the dependent surgical instrument 170.

[0082] The dependent surgical instrument 170 can then be controlled by defining a dependent control point 179 (a virtual point rigidly associated with the articulated end 175), for example, the midpoint between the ends or grippers 171, 172, which contains information about the position and orientation of the articulated end 175 (e.g., six degrees of freedom of orientation and position, and preferably information about opening and closing forces).

[0083] Information about the opening / closing degrees of freedom between the rigid components 117 and 118 of the control gripper 113 can be obtained by detecting the distance between identifiers 107 and 108 and / or the angle between identifiers 107 and 108, and added to the information contained in the control point PC.

[0084] According to one embodiment, each rigid component 117, 118 of the control gripper 113 has an angular travel β of approximately 90° centered on a reference position, for example, such that the rigid component 117 or 118 is substantially aligned with a definable longitudinal axis of the control gripper 113. In other words, each rigid component 117, 118 can move relative to the definable reference position within a range of -45° to +45°.

[0085] The reference position of the first rigid member 118 can be aligned with and substantially coincide with the reference position of the second rigid member 118.

[0086] Preferably, no tracking sensor or identifier is provided in the handle 111, and the activation of the subordinate deflection degree of freedom (rotary joint) is caused by the position taken by the surgeon when manipulating the main controller device by holding it from the handle 111 and operating the sensing control gripper with fingers F1, F2. In other words, the handle 111 is transparent to the tracking system because it has neither a tracking sensor nor an identifier.

[0087] The angular travel β of the first rigid component 117 can be superimposed on the angular travel α of the second rigid component 118, and preferably coincides with it.

[0088] Therefore, the control point PC calculated by the tracking device of the main workstation component 101 can have an angular travel β within the range of -45° to +45° relative to a definable reference position. The reference position of the control point PC is preferably aligned with the definable longitudinal axis XX of the control gripper.

[0089] For example, such as Figure 7A As shown in -B, by placing the rigid components 117 and 118 of the control gripper 113 substantially symmetrically together, i.e. at the same speed, the position of the control point PC is kept aligned with the definable longitudinal axis XX of the control gripper 113.

[0090] For example, such as Figure 7CAs shown in Figure -D, in the closed (or semi-closed) control gripper 113 condition, where rigid members 117 and 118 abut against each other, rotating the two rigid members 117 and 118 together moves the control point PC. Thus, while the end links 171 and 172 maintain a closed or semi-closed configuration (e.g., under clamping or cutting conditions), the orientation of the end links 171 and 172 or the grippers 171 and 172 of the subordinate device 170 relative to the joint of the support link 173 is controlled. In other words, the deflection rotary joint of the hinged end 175 of the subordinate surgical instrument 170 is allowed to operate.

[0091] For example, such as Figure 7E As shown in -F, with the control clamp 113 open, the control point PC can be moved by moving a single rigid member 117 or 118 relative to the support 111 in its angular travel and by stopping or substantially stopping another rigid member 118 or 117 relative to the support 111.

[0092] With this solution, command transmission from master to slave can be achieved by defining a control point PC that controls slave control point 179.

[0093] The rotary joint 114, located between the rigid components of the control gripper 113, allows movement of the control point PC relative to the handle 111 or support 111 within a plane defined by identifiers 107, 108 of the rigid components 117, 118. The deflection degree of freedom of the main controller device 110 belongs to this plane and is therefore controlled by the surgeon's fingers (e.g., index finger and thumb), thus avoiding control of deflection positioning (deflection) with the surgeon's wrist / elbow. Consequently, the deflection degree of freedom Y of the articulated end 175 of the dependent surgical instrument 170 is controlled by the surgeon's fingers.

[0094] The robot system 100 is preferably configured such that even if the reference 106 for the identifiers 107, 108 is not located on the handle 111 or the support 111, the movement between them, i.e., the movement between the rigid components 117, 118 of the control gripper 113 about axis aa due to the joint 114, only activates the deflection degree of freedom Y of the articulated end 175 of the subordinate surgical instrument 170. This is because the orientation of the handle (support) and / or the control gripper in roll and pitch is transmitted to the rigid components 117, 118 via the rotation control point PC, and subsequently to the rolling rotation and pitch via the subordinate control point 179 (which activates the relative rolling R and pitch P joints of the articulated end 175), and thus to the identifiers 107, 108.

[0095] According to one embodiment, the control gripper 113 is rigidly fastened to the handle 111 or the support 111 such that the control gripper 113 cannot be reoriented relative to the handle 111. Thus, the rolling and pitch rotation of the handle or support involves the rotation of the control point PC and is transmitted to the rolling and pitch joints of the slave device 170.

[0096] Translation applied to the control point PC can be managed by translating the positioning axis or rod 176 of the subordinate surgical instrument 170.

[0097] According to one embodiment, for example, Figure 8 As shown, each rigid component 117, 118 of the control gripper 113 is fixed to the support 111 at its rotary joints 114, 114'. The axes of rotation of each rigid component 117, 118 relative to the support 111 are parallel to each other. Therefore, each of the two rigid components is hinged to the handle via an independent rotary joint 114, 114', and each rigid component can generate relative movement relative to the handle and relative to the other rigid component. An elastic element may be included to move the rigid components 117, 118 away from the bias relative to each rotary joint 114, 114'. Alternatively or additionally, an elastic element may be provided between the two rigid components 117, 118.

[0098] The two rotary joints can be arranged coaxially. According to one embodiment, the control gripper 113 includes a rotary joint 114 located between two rigid members 117, 118, thereby constraining the two rigid members to rotate about a common axis coinciding with the first axis. Thus, the two rigid members are hinged to the handle via a single rotary joint 114 to cause relative movement relative to the handle and relative movement of one rigid member relative to the other. An elastic element 126 can be provided to move the rigid members 117, 118 away from bias relative to the common rotary joint 114. Alternatively or additionally, the elastic element 126 can be provided between the two rigid members 117, 118.

[0099] Preferably, the at least one rotary joint 114, 114' is a cylindrical joint.

[0100] According to a preferred embodiment, the main controller device 110 includes a joint between a support 111 and a control gripper 113. In other words, in addition to the opening / closing and deflection degrees of freedom provided by at least one rotary joint 114, 114' between the rigid components 117, 118 of the control gripper 113, the control gripper 113 has another degree of freedom relative to the support 111 or handle 111. Thus, the first rigid component 117 and the second rigid component 118 of the control gripper 113 can be connected to an intermediate mechanical link via the opening / closing and deflection joints 114, 114', which in turn has relative motion (or degree of freedom) relative to the handle or support of the main controller device.

[0101] According to one embodiment, for example, Figure 9A As shown in Figure -B, the main controller device 110 includes a cylindrical rotary joint 121 located between the support 111 and the control gripper 113, the axis of which is substantially parallel to the longitudinal axis XX of the control gripper 113. This allows for the rolling degree of freedom of the control gripper 113 relative to the handle 111 or the support 111. Therefore, the rolling degree of freedom of the main controller device 110 can also be controlled by the fingers F1, F2 of the surgeon's hand H instead of the surgeon's wrist / elbow, thus controlling the rolling or rotational degree of freedom of the subordinate surgical instrument 170 about axis R. For example, the handle 111 may include a longitudinal hole or cavity with a cylindrical inner wall 131 that engages with the cylindrical mating surface 132 of the control gripper 113. The control clamp 113 may include a hub 119 to which two rigid members 117, 118 are rotatably connected by means of one or more rotary joints 114, 114'. The hub 119 of the control clamp 113 includes a longitudinal tail portion that includes the cylindrical surface 132, which is received in the cylindrical hole 132 of the handle 111.

[0102] According to one embodiment, for example, Figure 10AAs shown in Figure -C, the main controller device 110 includes a cylindrical rotary and translational joint 121 located between the support 111 and the control gripper 113. In other words, in addition to having a cylindrical rotary joint with an axis substantially parallel to the longitudinal axis XX, this joint provides the control gripper 113 with a translational degree of freedom in the longitudinal direction XX, and, for example, allows the control gripper 113 to retract relative to the support 111. Therefore, the joint may include a longitudinal bore or cavity having a cylindrical inner wall 131 that engages with a cylindrical mating surface 132 of the control gripper 113, the bore or cavity having its longitudinal extension to guide the movement of the control gripper 113 in the longitudinal direction with its cylindrical inner wall 131. A spring 133 may be included for biasing the control gripper 113 to advance relative to the support 111. When in operation, by moving the rigid components 117, 118 closed by the fingers F1, F2 of the surgeon's hand H, the kinematics of the human hand is subjected to an incomplete circular trajectory with physiological contraction, which can be advantageously accorded by the longitudinal translational degree of freedom contained in the joint between the handle and the control gripper.

[0103] Spring 133 can have a self-centering effect on control clamp 113, biasing connector 121 toward its rest position. In other words, the rotary joint between the handle and control clamp can include a spring (not shown) for biasing the connector toward a predetermined angular position (orientation).

[0104] The retraction / advance translation permitted by the joint allows, if necessary, control of the translational degrees of freedom of the subordinate surgical instrument 170 by the fingers F1, F2 of the hand H holding the support 111. For example, the robotic manipulator 160 may include one or more linear sliding guides to retract / advance the positioning axis or rod 176 of the subordinate surgical instrument 170. The tracking system and / or associated control system may suppress the translation of the subordinate surgical instrument 170 in response to the rearward compliance of the gripper 113 relative to the handle 111.

[0105] For example, such as Figure 11 As shown, the support 111 may be a wearable element, including an inner surface 112 of the palm P1 of the surgeon's hand H 150 and two opposing interface portions 115, 116 on the control gripper 113 for manipulation by the surgeon's fingers F1, F2. In this embodiment, a rolling rotary joint 121 is provided between the support 111 and the control gripper 113, allowing the surgeon 150 to manipulate the opening / closing degree of freedom, deflection degree of freedom, and rolling degree of freedom of the main controller device 110 with his or her fingers F1, F2 of the hand H wearing the support 111. This translates to controlling the deflection joint and rolling joint of the subordinate surgical instrument 170.

[0106] For example, such as Figure 12A As shown, the main body of the handle 111 may have an extension along its extension direction YY, which may be substantially parallel to the axis of rotation defined by at least one joint 114, 114' between the two rigid members 117, 118.

[0107] For example, such as Figure 12B As shown, the extension direction YY of the handle 111 can form an acute pitch angle α with the longitudinal direction XX of the control gripper 113. Preferably, the handle 111 is rigid, and the angle between its extension direction YY and the longitudinal direction XX of the control gripper 113 is rigidly predetermined.

[0108] According to one embodiment, the joint between the handle 111 or support 111 and the control gripper 113 also allows the control gripper to be oriented in the pitch direction, for example as... Figure 15B As shown, and for example, the connector includes a ball joint 123.

[0109] For example, such as Figure 13A As shown in -B, the joint between the support 111 and the control clamp 113 may include a rotary joint 124 that allows rotation between the rigid components 117, 118 of the control clamp 113 about at least one axis of rotation AA, A-A' substantially parallel to at least one rotary joint 114, 114'. According to one embodiment, the rotary joint 124 is a cylindrical joint. Between the cylindrical joint 124 and at least one rotary joint 114, 114' of the control gripper 113, a connecting rod 134 and / or a rigid body segment 134 can be provided. This allows for an expansion of the deflection orientation range of the control gripper 113's movement relative to the support 111 by moving the instantaneous center of rotation CR of the control gripper in a distal direction (i.e., toward the control point PC) relative to at least one joint 114, 114'. This brings the instantaneous center of rotation CR of the control gripper 113 closer to the manipulation interface portions 115, 116, where the surgeon 150 rests his fingers F1, F2 to manipulate the control gripper 113. Thus, with the cylindrical joint 124 parallel to the joint 114 between the rigid members 117, 118 and between the control gripper and the handle, the joint 114 can be moved in a plane by means of manipulation with fingers F1, F2.

[0110] According to a preferred embodiment, for example, Figure 14 As shown, a joint is provided between the support 111 or handle 111 and the control gripper 113. This joint includes a ball joint 123 and a linear guide 131 or cavity 131 for longitudinal movement of the ball joint 123, and thus for controlling the longitudinal movement of the gripper 113. The ball joint 123 may be associated with a spring 133, for example, as... Figure 15A As shown, it is used to preload the control clamp 113 relative to the support 111 for extraction.

[0111] In some operating configurations, the longitudinal axis XX of the control gripper 113 may not coincide with the longitudinal axis of the guide 131 of the handle 111.

[0112] The ball joint 123 also allows the pitch degrees of freedom of the main device 110 to be controlled by the fingers F1, F2 of the surgeon's hand H, instead of by the wrist / elbow.

[0113] For example, such as Figure 16 As shown, in the included case, cables such as data connection cable 135 for identifiers 107, 108 (e.g., sensors 107, 108) can pass through the body of the control gripper 113 and through a channel provided inside the body of the handle 111. Therefore, according to one embodiment, the main workstation 101 including the reference 106 is capable of detecting information regarding relative open-close movements in a plane (e.g., distance and / or angle between sensors 107, 108), longitudinal movements (e.g., forward and backward movements of the palm P1 relative to the surgeon's hand H1), and three-dimensional rotation.

[0114] For example, Figure 17 As shown, the handle 111 or support 111 may be cap-shaped, with a dome or cap-shaped surface at the palm P1 of the surgeon's hand H1 facing the hand of the surgeon 150. The joint 114 between the rigid members 117 and 118 may be formed by the elastic flexible portion of the rigid member itself.

[0115] The range of motion of the joint between the handle 111 or support 111 and the control gripper 113 can be preset by providing a mechanical travel end within or near the joint, or alternatively or additionally by including a preloaded elastic element. The extension of the range of motion can be based on ergonomic operating reasons and can be adjusted during the design and / or assembly steps of the main controller device.

[0116] According to one embodiment, the joint between the handle 111 or support 111 and the control gripper 113 allows for a rolling rotation of less than 360°, and falls within, for example, a range of + / -160° relative to a median reference value. According to a preferred embodiment, the joint between the handle 111 or support 111 and the control gripper 113 allows for a rolling rotation of less than 180°, and falls within, for example, a range of + / -80° relative to a median reference value.

[0117] According to one embodiment, the joint between the handle 111 or support 111 and the control gripper 113 allows for longitudinal translation of less than 2 cm, and allows the control gripper 113 to retract approximately 1 cm relative to the support 111, for example, due to manipulation by the fingers F1, F2 of the surgeon 150's hand H. Retraction can be achieved by applying the action of the counteracting spring 133.

[0118] According to one embodiment, the joint between the handle 111 or support 111 and the control gripper 113 allows for deflection rotation with a range of motion of approximately 90°, preferably within a range of + / - 45° relative to a median reference position. According to another embodiment, the joint allows for deflection rotation with a range of motion of approximately 60°, preferably within a range of + / - 30° relative to a median reference position.

[0119] According to one embodiment, the joint between the handle 111 or support 111 and the control gripper 113 allows for pitch rotation with a range of motion of approximately 90°, preferably within a range of + / - 45° relative to a median reference position. According to another embodiment, the joint allows for pitch rotation with a range of motion of approximately 60°, preferably within a range of + / - 30° relative to a median reference position.

[0120] According to a general embodiment, a non-grounded master controller device 110 is provided, comprising a support 111 and a control gripper 113. The support includes a surface 112 for the palm of a surgeon's hand, and the control gripper is mounted to the support 111 and includes two opposing manipulation interfaces 115, 116 for the fingers of the surgeon's hand. The control gripper 113 includes a first rigid member 117 and a second rigid member 118 placed side-by-side. The first rigid member 117 is constrained to rotate relative to the support 111 about a first axis; the second rigid member 118 is constrained to rotate relative to the support 111 about a second axis that coincides with or is parallel to the first axis. The master controller device 110 may be associated with a tracking system configured to detect information regarding the position and orientation of the first rigid member 117 and the second rigid member 118 of the control gripper 113, respectively, to control a slave device 170 of a robotic system 100.

[0121] According to one embodiment, the main controller device 110 is any of the embodiments described above.

[0122] The following describes a method for controlling a robotic system used for remote medical or surgical operations.

[0123] The control method includes the step of providing a system for remote medical or surgical operations, the system comprising a master workstation 101 as described in any of the previously described embodiments and a slave device including at least one slave surgical instrument 170. The slave surgical instrument 170 is preferably any of the previously described embodiments.

[0124] The method includes the steps of controlling both the opening / closing degree of freedom and the deflection degree of freedom of the subordinate surgical instruments using the fingers F1 and F2 of the hand H1. The fingers are preferably the index finger and the thumb.

[0125] According to a preferred embodiment, the method further includes controlling the pitch degree of freedom using the same fingers of a surgeon's hand.

[0126] According to a preferred embodiment, the method further includes controlling the rolling degree of freedom with the same fingers of a surgeon's hand.

[0127] By providing the above features, individually or in combination where applicable, the above-mentioned needs can be met, and the following advantages can be obtained, in particular:

[0128] - Allows the surgeon's fingers F1, F2 (with the palm P1 on the surface 112 of the handle or support 111) to control the control gripper 113 for remote surgical operations in multiple degrees of freedom.

[0129] - The control gripper is a sensor-controlled gripper designed to be read by the tracking system, while the handle is transparent to the tracking system and performs ergonomic functions;

[0130] - Redundant connectors containing the main controller device form the degrees of freedom within the main controller device, which is adapted to transmit motion to the subordinate surgical instruments by detecting the identifier of the control gripper, allowing the surgeon to extend control of the subordinate surgical instruments using only his fingers F1, F2 (e.g., the index finger and thumb of the hand grasping the main device).

[0131] - The use of F1 and F2 fingers allows surgeons to make more precise, accurate, and effortless controls, especially in cases where the main equipment can move freely in the workspace (non-grounded or steering wheel-type main equipment);

[0132] -In particular, compared to using the wrist, elbow or shoulder, using the fingers F1, F2 to manipulate the various degrees of freedom of the control gripper translates into controlled degrees of freedom of manipulating the slave device, which allows for more precise and therefore highly desirable surgical teleoperations.

[0133] - Therefore, by providing one or more degrees of freedom within the main device, the range of motion of the surgeon's fingers is extended, i.e., the workspace of the surgeon's fingers;

[0134] - The movement of rigid components toward / away from each other preferably occurs within a definable plane, thus allowing activation, i.e., only moving the corresponding ends or grippers 171, 172 of the articulated end 175 of the slave device 170, while moving the deflection joint of the slave surgical instrument 170 (which may coincide with the open-close joint between the grippers) by moving the joint between the handle or support of the master device and the control gripper, pitching and rolling, all using only the fingers F1, F2, such as the index finger and thumb of hand H1, with the palm P1 resting on the surface 112 of the support or handle 111;

[0135] -In particular, when a ball joint is included between the handle or support and the control gripper, all slave roll, pitch and yaw joints can be controlled by using only the fingers F1, F2;

[0136] - In cases where translational (retraction) degrees of freedom are included, the linear translational degrees of freedom of the positioning axis 176 of the subordinate surgical instrument 170 can also be controlled by fingers (e.g., one or more linear sliders, such as a Cartesian robotic manipulator 160).

[0137] - There is no sensing body between the rigid components of the control gripper because orientation is transmitted by means of the calculation of control points between identifiers or sensors (i.e., between rigid components);

[0138] -The proposed technical solution allows for natural movements of the surgeon's hand as he manipulates the main device, taking advantage of the kinematic characteristics of the human hand.

[0139] - With the proposed technical solution, it avoids transmitting unnecessary control signals to slave devices and avoids or at least minimizes the risk of undesirable repositioning of the master device in the hands of the surgeon.

[0140] -The proposed technical solution improves ergonomics and safety compared to known technical solutions.

[0141] - The proposed technical solution provides an intuitive, ergonomic, stable, and fall-proof main device.

[0142] -Based on the proposed technical solution, a main device consisting of a limited number of mechanical, electronic, and sensor components is provided, and it features a design that allows for easy sterilization or covering with sterile cloth.

[0143] - Based on the proposed technical solution, a master controller device is provided that facilitates controlled, precise and accurate motion and extends the range of motion for different relative degrees of freedom, especially the deflection and rolling degrees of freedom.

[0144] - The proposed technical solution provides a master device consisting of a limited number of mechanical, electronic and sensor elements and / or incorporating simple ergonomics, and / or having a robust fall-proof grip that does not impair relative degrees of freedom and range of motion, and / or having a design that is easy to disinfect with sterile cloth, and / or also facilitating controlled, precise and accurate movement, particularly in deflection and rolling degrees of freedom.

[0145] To meet specific or occasional needs, those skilled in the art can make some changes and adjustments to the above embodiments, and can replace the elements with other functionally equivalent elements without departing from the scope of the appended claims.

[0146] List of reference numerals

[0147] 100 Robotic systems for remote medical or surgical operations 101 Main workstation components 106 Tracking equipment benchmark 107 First rigid component identifier 108 Second rigid component identifier 110 Main controller device, or main device 111 Handle or support 112 Surface for the palm 113 Control clamp 114 Control clamp connector 114’ Another control clamp connector 115 The operating interface of the first rigid component 116 The operating interface of the second rigid component 117 First rigid component or rod 118 Second rigid component or rod 119 Control clamp hub 120 visual system 121 cylindrical rolling joint 123 Spherical joint 124 cylindrical deflection joint 126 The elastic element controlling the clamp 127 The free end of the first rigid component 128 The free end of the second rigid component 131 The support member has holes, seats, cavities, or guides for controlling the translation of the gripper. 132 Control the cylindrical surface of the gripper 133 Connector spring 134 Connector rod 150 surgeon 160 robot manipulator 170 Subordinate surgical instruments or subordinate equipment 171 First end link, or first gripper 172 Second end link, or second gripper 173 support link 174 Another proximal link 175 Subordinate hinge end 176 Positioning rod or shaft 177 Tendon 178 Free end 179 Subordinate control point F1 A surgeon's finger, such as the index finger F2 Surgeon's fingers, such as the thumb H1 Surgeon's Hand P1 The surgeon's hand palm XX Control the longitudinal axis of the gripper YY Handle or support extension axis Y Deflection and rotation axis of subordinate surgical instruments R Rolling axis of subordinate surgical instruments P Pitch and rotation axes of subordinate surgical instruments α handle angle β Control the angular travel of the gripper

Claims

1. A main workstation component (101) for a robotic system (100) for remote medical or surgical operations, the main workstation component comprising: - At least one ungrounded master controller device (110) adapted to control at least one open / close degree of freedom and one deflection degree of freedom of the subordinate surgical instruments of the robot system (100), - A tracking system used to detect information about the location and orientation of the main controller device; The main controller device (110) includes: - Handle (111), which includes a palm surface (112) for the surgeon's hand. - Control gripper (113), which is coupled to the handle (111) and includes two opposing manipulation interfaces (115, 116) for the fingers of the surgeon's hand. And among them -The control clamp (113) includes a first rigid component (117) and a second rigid component (118) placed side by side. - The first rigid member (117) is constrained to rotate about a first axis relative to the handle (111); - The second rigid member (118) is constrained to rotate relative to the handle (111) about a second axis that coincides with or is parallel to the first axis; The tracking system is configured to detect information on the position and orientation of the first rigid component (117) and the second rigid component (118) of the control gripper, respectively.

2. The assembly of claim 1, wherein the control clamp includes an elastic element (126) located between the first rigid member (117) and the second rigid member (118), the elastic element biasing the first rigid member and the second rigid member away from each other.

3. The component according to claim 1 or 2, wherein, The tracking system is configured to process a control point (PC) containing position and orientation information of the control gripper (113) based on the position and orientation information detected for the first rigid member (117) and the second rigid member (118), respectively; and wherein, preferably, the control point (PC) is calculated as the midpoint between the rigid members of the control gripper.

4. The component according to any one of the preceding claims, wherein the tracking system comprises: - Reference system (106), for example, defining the master reference system; - Two identifiers (107, 108) are fixed to corresponding rigid components (117, 118) of the control gripper (113) to detect the position and orientation of each rigid component relative to the reference.

5. The component of claim 4, wherein the tracking system comprises: - Two tracking sensors, such as magnetometer-type tracking sensors, each tracking sensor is fixed to a corresponding rigid component of the control gripper and used as an identifier; as well as - A tracking field generator, such as a magnetic field generator, is used as the reference.

6. The component of claim 4, wherein the tracking system comprises: - Two optical markers, each fixed to a corresponding rigid component of the control gripper, serve as identifiers; as well as - Optical sensors, such as cameras, are used as a reference.

7. The component of claim 4, wherein the tracking system comprises: - Two encoders are mounted to the handle, and each encoder is operatively associated with a corresponding rigid component of the control gripper.

8. The assembly according to any one of the preceding claims, wherein each rigid component (117, 118) of the control gripper (113) is respectively secured to the handle (111) in its rotary joint (114, 114').

9. The component according to any one of the preceding claims, wherein the control gripper (113) includes a rotary joint (114) located between the two rigid members (117, 118) to constrain the two rigid members to rotate about a common axis coinciding with the first axis.

10. The component according to any one of the preceding claims, wherein the main controller device includes a rotary joint located between the handle (111) and the control clamp (113).

11. The assembly of claim 10, wherein the rotary joint between the handle and the control clamp comprises a cylindrical deflector (124) and a connecting rod (134), the axis of the cylindrical deflector being parallel to at least one joint (114, 114') between the rigid components (117, 118), and the connecting rod being used to connect to at least one joint (114, 114') between the rigid components (117, 118).

12. The component of claim 10, wherein, The rotary joint between the handle and the control gripper includes a cylindrical rolling joint (121) that allows the control gripper to roll relative to the handle.

13. The assembly of claim 10, wherein the rotary joint between the handle and the control clamp comprises a ball joint (123).

14. The assembly according to any one of claims 10 to 13, wherein the rotary joint between the handle (111) and the control clamp (113) further comprises an elastic element for biasing the rotary joint in a predetermined orientation.

15. The assembly according to any one of claims 10 to 14, wherein the rotary joint between the handle (111) and the control gripper (113) includes a guide (131) that allows the control gripper (113) to translate relative to the handle (111).

16. The component of claim 15, wherein a spring (133) is provided for biasing the control gripper (113) to be withdrawn relative to the handle (111).

17. The component according to any one of the preceding claims, wherein the handle (111) is transparent to the tracking system and, in particular, has no sensors and / or identifiers, serving as an ergonomic component to apply a surgeon's finger to a specific location on the control gripper.

18. A method for controlling a robotic system for remote medical or surgical operations, the method comprising the steps of: - A system for remote medical or surgical operations is provided, the system comprising a master workstation component (101) according to any one of the preceding claims, and a slave device comprising at least one slave surgical instrument (170); - The opening / closing and deflection degrees of freedom of the subordinate surgical instruments are controlled by the fingers (F1, F2) of the hand (H1).

Images