Ungrounded master controller device and control method for master workstations for remote operation in medical or surgical applications

Abstract

A master workstation (101) for a robotic system (100) for medical or surgical remote operation, comprising: at least one mechanically ungrounded master control device (110) including a support or handle (111) having a surface (112) for the palm of a surgeon; and an operating gripper (113) attached to the support (111) having two opposing operating interfaces (115, 116) for the fingers of a surgeon, and a control gripper (113) includes a first rigid body portion (117) and a second rigid body portion (118) placed side by side, the first rigid body portion (117) being rotatably constrained to a support portion (111) around a first axis, and the second rigid body portion (118) being rotatably constrained to a support portion (111) around a second axis that coincides with or is parallel to the first axis, and the tracking system is configured to individually detect position and orientation information of the first rigid body portion (117) and the second rigid body portion (118) of the operating gripper (113).

Description

Technical Field

[0001] The present invention relates to a master controller device.

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

[0003] The master controller device according to the present invention is particularly suitable for a remote robotic surgery system having a slave device controllable by the master controller device.

Background Art

[0004] Robotic surgical devices are generally known in the art and typically include a central robotic tower or cart and one or more robotic arms extending from the tower / cart. Each arm includes an electric positioning and orientation control system (or manipulator) for moving a surgical instrument that can be detachably attached distally to perform a surgical procedure on a patient.

[0005] Similarly, frequently, "slave" surgical instruments have a distal joint, preferably a joint for orientation adjustment and grasping, which is also robotically controlled by a manipulator via a mechanical connection interface.

[0006] The patient is usually lying on an operating table installed in the operating room, where a sterile state is ensured to avoid bacterial contamination by the non-sterilized part of the robotic device.

[0007] To control the robotic manipulator and thus the slave surgical instrument, the surgeon operates one or more master controller devices according to a master-slave teleoperation architecture.

[0008] In known master devices, usually, buttons for transmitting control signals to the slave surgical instrument are provided.

[0009] Other known master controller devices include articulated structures that support the grasped and manipulated part, which are configured to record or detect the in-space motion (translational motion) of the grasped and manipulated part in space, as shown, for example, in U.S. Patent No. 5,808,665 and International Publication Application No. WO-2020-188390.

[0010] In one example of prior art, the left and right master devices are each mounted on a mounting section of the control console and supported by a gimbal system configured to detect orientation input.

[0011] Otherwise, there are master devices known that are not mechanically / kinematically grounded to the operating console (referred to in the terminology used in this field as "ungrounded," "unconstrained," or "UID"). These are the "flying" type, which are operated by the surgeon within a predetermined three-dimensional tracking space. Such ungrounded "flying" master devices are suitable for one-sided remote operation without force feedback.

[0012] For example, as shown in prior art document WO-2019-220407 by the same applicant, an elastic element, specifically a preloaded trigger cantilevered between two rigid rods, may be provided, which simulates a kind of feedback to the surgeon and hardens the rod closure resistance when the opening and closing angle between the rods of the master device falls below a predetermined threshold. A similar solution, showing a master device exhibiting different stiffnesses when closed, is disclosed in U.S. Patent No. 6,594,552.

[0013] Ungrounded master devices are typically equipped with an inertial platform and position / attitude sensors (such as magnetometers and optical markers) that transmit commands to slave surgical instruments. In known examples, a magnetic field generator is provided, which generates a tracking region. Within this region, the position and orientation of two 6-degree-of-freedom magnetometer sensors on the master device are tracked, and a blockage command signal is provided to the slave device when the detection distance between the sensors falls below a predetermined threshold.

[0014] For example, published patent application WO-2022-175800 by the same applicant describes a solution for an ungrounded master device in which a system control unit verifies the existence of a predefined geometric relationship between two sensors incorporated into the master device body.

[0015] For example, WO-2022-175792 by the same applicant provides a solution for uniquely identifying a slave surgical instrument by a virtual control point located midway between the two tips (or jaws) of the instrument, which can coincide with the midpoint between sensors attached to the movable rod of the master device in the master's workspace.

[0016] For example, WO-2022-175802 by the same applicant demonstrates a system solution for safety for an unrestrained master device, designed to disable remote control if an internal sensor detects excessive acceleration / velocity.

[0017] While the known solutions for master devices that are not tied to the aforementioned control console have some advantages, they are not without drawbacks.

[0018] In fact, unrestrained master devices can slip, shift, bump into objects, or fall from the hand during operation, potentially transmitting or causing unexpected and unwanted movements to the end effector of the remote control system or to the patient.

[0019] Once gripped, an ungrounded master controller device may become unstable during operation, or its precise range of motion may be restricted during operation.

[0020] WO-2019-099584 and US-2020-0390510 disclose further embodiments of ungrounded master devices, in particular a solution comprising a type of handle or grip wearable by a surgeon, equipped with a special ring for the surgeon's finger, and also connectable to an open / close command operation unit via a spherical joint. A similar solution is disclosed in U.S. Patent Application Publication 2020-0237467, in which the wearable portion of the master device is a type of bracelet from which an articulated connection extends to a sensored portion of the master controller device, which includes a tracking sensor and a button for activating open / close commands.

[0021] While the presented master device embodiments address some aspects of instability, they suffer from a large number of mechanical and electronic components and a complex structure. Furthermore, their shape makes draping for sterilization and aseptic procedures difficult, and finally, their complex kinematic properties restrict the simple and free manipulation of the hand's natural degrees of freedom, thus compromising controllability, precision, accuracy, and range of motion.

[0022] Therefore, there is a strong need for a master device solution that improves ergonomic characteristics and safety compared to known solutions, without reducing the accuracy of master-slave remote control or limiting the relative range of motion or sterility.

[0023] At the same time, there is a need to provide an intuitive and ergonomically designed master device that can guarantee satisfactory reliability in controlling multiple degrees of freedom of the slave device (including opening and closing degrees of freedom, i.e., grasping and / or cutting of surgical instruments of the slave device). [Overview of the project]

[0024] The object of the present invention is to eliminate the drawbacks pointed out with respect to the prior art.

[0025] The object of the present invention is achieved by the assembly according to claim 1 and the method according to claim 18.

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

[0027] According to one aspect of the present invention, a master workstation assembly for a robotic system for remote operation in medical or surgical applications is provided with at least one mechanically non-grounded master controller device configured to control at least one opening and closing degree of freedom and one yaw degree of freedom of a slave surgical instrument of the robotic system, and a tracking system for detecting information on the position and orientation of the master controller device.

[0028] The non-grounded master controller device includes a support or handle having a surface for the palm of the surgeon's hand, and a control gripper attached to the support and having two operating interfaces for the fingers of the surgeon's hand.

[0029] The control gripper includes a first rigid body portion and a second rigid body portion juxtaposed with each other. The first rigid body portion is constrained to rotate about a first axis with respect to the support, and the second rigid body portion is constrained to rotate about a second axis that coincides with or is parallel to the first axis with respect to the support. The tracking system is configured to individually detect information on the position and orientation of the first rigid body portion and the second rigid body portion of the control gripper.

[0030] Preferably, the angular stroke of the first rigid body portion is superimposed on the angular stroke of the second rigid body portion. According to one embodiment, the angular strokes of the two rigid body portions of the control gripper substantially coincide.

[0031] It is preferable that tracking information regarding the position and orientation of the master controller device is obtained from two identifiers (e.g., sensors) with six degrees of freedom, one for each rigid body part, as well as from opening and closing information between rigid body parts.

[0032] Therefore, the control gripper is a control gripper equipped with sensors for detecting at least the open / close and yaw degrees of freedom. Thus, the handle or support is transparent to the tracking system and functions as an ergonomic component that positions the surgeon's hand and fingers in a specific position on the master controller device, and can manipulate at least the open / close and yaw degrees of freedom of the slave.

[0033] Therefore, it enables the opening and closing and yaw operation of the slave device by the surgeon's fingers (e.g., index and thumb), and allows for precise control of minute movements for the user, for surgeons who use their wrist and elbow to actuate the yaw joint of the slave surgical instrument controlled by the master controller device. Providing a support or handle with a surface in contact with the surgeon's palm requires the surgeon to position their fingers in a specific way on the sensor-equipped control gripper.

[0034] A translational and / or rotational joint may be further provided between the control gripper and the support or handle, allowing the surgeon to operate other degrees of freedom of the slave device with the same fingers.

[0035] An elastic element is provided, which allows further joints to be biased toward a predetermined position.

[0036] Further features and advantages of the present invention will become apparent from the description of preferred embodiments, which are shown below as non-limiting examples and with reference to the accompanying drawings, which are described briefly below. Note that the term "one embodiment" in this specification does not necessarily refer to the same embodiment, but should be understood to refer to at least one or more embodiments. Furthermore, for the sake of brevity and to reduce the total number of drawings, certain drawings may be used to illustrate features of one or more embodiments, and not all elements of a drawing are essential to a particular embodiment. [Brief explanation of the drawing]

[0037] [Figure 1] Figure 1 shows an axial projection of a robotic system for remote control in medical or surgical applications according to one embodiment. [Figure 2] Figure 2 shows a perspective view of a slave surgical instrument according to one embodiment. [Figure 3A] Figure 3A shows a perspective view of a master controller device according to one embodiment, illustrating how a surgeon holds it in both an open and closed configuration. [Figure 3B] Figure 3B shows a perspective view of a master controller device according to one embodiment, illustrating how a surgeon holds it in both an open and closed configuration. [Figure 3C] Figure 3C shows a perspective view of a master controller device according to one embodiment, illustrating how a surgeon holds it in both an open and closed configuration. [Figure 3D] Figure 3D shows a perspective view of a master controller device according to one embodiment, illustrating how it is held in the hand of a surgeon in both open and closed configurations. [Figure 4] Figure 4 schematically shows a tracking device for a master workstation assembly according to one embodiment. [Figure 5] Figure 5 illustrates tracking devices for master workstation assemblies according to several embodiments. [Figure 6] Figure 6 schematically illustrates a tracking device for a master workstation assembly according to several embodiments. [Figure 7A] Figure 7A schematically shows several possible configurations of the control gripper and control points of a master controller device according to one embodiment. [Figure 7B] Figure 7B schematically shows several possible configurations of the control gripper and control points of a master controller device according to one embodiment. [Figure 7C] Figure 7C schematically shows several possible configurations of the control gripper and control points of a master controller device according to one embodiment. [Figure 7D] Figure 7D schematically shows several possible configurations of the control gripper and control points of a master controller device according to one embodiment. [Figure 7E] Figure 7E schematically shows several possible configurations of the control gripper and control points of a master controller device according to one embodiment. [Figure 7F] Figure 7F schematically shows several possible configurations of the control gripper and control points of a master controller device according to one embodiment. [Figure 8] Figure 8 schematically shows a master controller device according to one embodiment. [Figure 9A] Figure 9A is an axonometric projection view showing one embodiment of a master device having a support or a joint between a handle and a control gripper, with some parts shown in cross-section for clarity. [Figure 9B] Figure 9B is a top view showing one embodiment of a master device having a support or a joint between a handle and a control gripper, with some parts shown in cross-section for clarity. [Figure 10A] Figure 10A shows an axial projection view of a master controller device according to one embodiment. [Figure 10B] Figure 10B is a longitudinal cross-sectional view of the master controller device shown in Figure 10A. [Figure 10C] Figure 10C shows a cross-sectional view of the support portion or joint between the handle and the control gripper of the master controller device shown in Figure 10A. [Figure 11]Figure 11 schematically shows a master controller device according to one embodiment, held in the hand of a surgeon. [Figure 12A] Figure 12A shows illustrated vertical cross-sectional views of several possible configurations of the handle or support portion of a master controller device according to several embodiments. [Figure 12B] Figure 12B shows illustrated vertical cross-sectional views of several possible configurations of the handle or support portion of a master controller device according to several embodiments. [Figure 13A] Figure 13A is a diagram showing a master controller device, including a joint between the operating gripper and a handle or support, in several operating configurations according to an embodiment. [Figure 13B] Figure 13B is a diagram showing a master controller device, including a joint between the operating gripper and a handle or support, in several operating configurations according to an embodiment. [Figure 14] Figure 14 shows a longitudinal cross-sectional view of a master controller device according to one embodiment. [Figure 15A] Figure 15A shows a cross-sectional view of a master controller device according to several embodiments. [Figure 15B] Figure 15B shows cross-sectional views of a master controller device according to several embodiments. [Figure 16] Figure 16 shows an axial projection view of a master controller device and a reference diagram of a master workstation according to one embodiment. [Figure 17] Figure 17 shows an illustrative axonometric projection of a master controller device according to one embodiment. [Figure 18] Figure 18 illustrates a master controller device held in the hand of a surgeon according to one embodiment. [Modes for carrying out the invention]

[0038] Throughout this specification, any reference to “one embodiment” means that a particular function, structure, or feature described in relation to that embodiment is included in at least one embodiment of the present invention. Therefore, the phrase “in one embodiment” in various parts of this specification does not necessarily refer to the same embodiment. Furthermore, certain functions, structures, or features, as shown in different drawings, can be combined in any suitable manner in one or more embodiments.

[0039] A master workstation assembly 101 (or master workstation 101) according to a general embodiment is provided.

[0040] The master workstation assembly 101 is particularly suitable for a remotely operated robotic system 100 for medical or surgical use.

[0041] The robotic system 100 further comprises at least one slave surgical instrument 170 that is movable under the control of a master controller device 110, in accordance with a master-slave remote control architecture.

[0042] The slave surgical instrument 170 comprises an articulated end having at least one rotational joint between a support link 173 and two end links 171, 172 (or jaws 171, 172), which moves the end links 171, 172 relative to the support, preferably around a common rotation axis Y or yaw rotation axis Y of the slave surgical instrument 170. Preferably, the end links or jaws have a free end and a base for attachment to an articulated pin that defines the yaw rotation axis Y of the articulated end of the slave surgical instrument.

[0043] The articular end 175 of the slave surgical instrument 170 may further include a proximal link 174, which is positioned proximal to the support link 173 and rotates the support link 173 around a pitch rotation axis P. The articular end of the slave surgical instrument 170 may further include a roll degree of freedom, for example, allowing rotation of the articular end around a longitudinal axis R or a roll axis R, preferably the longitudinal axis R or roll axis R extending along a positioning rod or shaft 176.

[0044] Preferably, the links 171, 172, and 173 of the joint end 175 of the slave device are moved by a drive tendon 177, for example, each link includes two drive antagonist tendons.

[0045] In a preferred embodiment, each end link 171, 172 or jaw 171, 172 is driven individually in an antagonistic manner by incorporating two drive tendons. That is, each end link 171, 172 is connected to the support link 173 at the yaw rotation axis Y and driven individually. This makes it possible to obtain both opening / closing freedom (e.g., grasping and cutting) and yaw freedom of the articular end 175 of the slave surgical instrument 170. That is, the yaw freedom and opening / closing freedom of the slave surgical instrument 170 are obtained by the rotational joint of the articular end 175 of the slave surgical instrument 170, and preferably the rotational joint is driven by drive tendons.

[0046] The master workstation assembly 101 includes at least one master controller device 110 of a type that is not mechanically grounded to the operating console, and at least one tracking device for detecting information regarding the position and orientation of the master controller device 110 in the tracking space.

[0047] The master controller device 110 is of a type that is not mechanically constrained to the operating console, i.e., a type that is not connected to the ground ("ungrounded", "UID", "movable within the free workspace"), and preferably a flying type master controller device 110 without force feedback.

[0048] The master controller device 110 is configured to control at least one open / close degree of freedom and at least one yaw degree of freedom of the slave surgical instrument 170 of the robotic system. In other words, the ungrounded master controller device 110 controls the movement of at least two end links 171, 172 of the joint end 175 of the slave surgical instrument 170 relative to the support link 173.

[0049] For example, as shown in Figures 3A to 3D, the master controller device 110 comprises a handle 111 or support 111 with a surface 112 for the palm P1 of the surgeon's hand H1, and two opposing operating interfaces 115, 116 attached to the support 111 for the fingers F1, F2 of the surgeon's hand H. The operating interfaces 115, 116 are positioned opposite to the definable longitudinal axis XX of the control gripper, and are intended to cause the surgeon's fingers (e.g., the index finger F1 and thumb F2 of the hand H) to close the control gripper toward the definable longitudinal axis.

[0050] According to a preferred embodiment, the support portion 111 is a handle 111 that forms the grip of the master controller device 110. The body of the handle or support portion can be obtained, for example, by molding or additive manufacturing (e.g., 3D printing), and can provide ergonomic characteristics for the surgeon's hand and optimize the gripping of the control gripper.

[0051] Advantageously, the control gripper 113 includes a first rigid body portion 117 and a second rigid body portion 118. The first rigid body portion 117 is constrained to rotate around a first axis aa relative to the support portion 111, and the second rigid body portion 118 is constrained to rotate around a second axis a'-a' relative to the support portion 111, where the second axis a'-a' coincides with or is parallel to the first axis aa. Thus, when the first axis aa and the second axis a'-a' coincide, the first and second rigid body portions of the control gripper 113 are constrained to rotate around a common axis aa relative to the support portion 111. Preferably, the relative approach / separation between the rigid body portions of the control gripper occurs in a predetermined plane perpendicular to axes aa and a'-a'.

[0052] The rigid portions 117 and 118 preferably have a rigid, elongated body. The rigid portions 117 and 118 of the control gripper 113 preferably are rigid rods or fins having free ends 127 and 128 and a base for attachment to the joints 114 and 114', respectively. The rigid portions 117 and 118 preferably extend substantially linearly, that is, linearly away from the handle and spaced apart from each other, because they are affected by the elastic element 126 when opening.

[0053] The control gripper 113 preferably does not include a sensored body between the rigid body portions 117, 118, so that it can sweep a wide angular range, and according to a preferred embodiment, the rigid body portions 117, 118 can sweep substantially coincident or overlapping angular ranges; that is, they are movable independently or together within the same angular range. For example, under operating conditions, i.e., when the surgeon's hand H grips the handle and the index finger F1 and thumb F2 are positioned on the interface portions 115, 116 of the rigid body portions 117, 118 of the control gripper, the two rigid body portions can be oriented within an angular range β relative to the handle, i.e., with respect to a central reference position, and the angular range β sweeps within a range of 45° to the right and 45° to the left with respect to the central reference position of the handle.

[0054] A further advantage is that the tracking system is configured to individually detect information regarding the position and orientation of the first rigid body portion 117 and the second rigid body portion 118 of the control gripper 113. That is, the master workstation assembly 101 detects information regarding the position and orientation of each rigid body portion 117, 118 of the control gripper 113 of the master controller device 110.

[0055] Therefore, the control gripper is sensorized and is the part used to control the slave surgical instrument, while the handle or support has an ergonomic function, but according to one embodiment, the handle or support is fitted with one or more buttons or other commands for operating the functions of the slave device, such as changing the scale factor between master and slave. Thus, the handle or support is transparent to the tracking system, while the control gripper is sensorized, i.e., it is read by the tracking system by providing an appropriate identifier located on the rigid part of the control gripper.

[0056] According to a preferred embodiment, the tracking system includes a reference 106 that defines a reference system MFO, and two identifiers 107 and 108 fixed to each rigid body portion 117 and 118 of the control gripper 113, and detects information regarding the position and orientation of each rigid body portion 117 or 118 relative to the reference 106. For example, each identifier 107 and 108 defines local reference systems MF1 and MF2 fixed to each rigid body portion 107 or 108 of the control gripper 113.

[0057] For example, as shown in Figure 4, according to a preferred embodiment, the tracking system includes two tracking sensors 107, 108 (e.g., magnetometer-type sensors) fixed to the respective rigid body portions 117, 118 of the control gripper 113, which function as identifiers, and a tracking field generator 106 (e.g., a magnetic field generator) which function as the reference.

[0058] For example, as shown in Figure 5, the tracking system may include two optical markers 107 and 108 (each fixed to a rigid body portion 107 and 108 of the control gripper 113) that function as identifiers, and an optical detector 106 (e.g., a camera) that functions as a reference. The identifiers 107 and 108 may be the rigid body portions 117 and 118 themselves, or parts thereof (e.g., distal portions with free ends).

[0059] For example, as shown in Figure 6, the tracking system may include two encoders mounted on the support 111, each operatively coupled to the corresponding rigid body portions 117 and 118 of the control gripper 113. Identifiers 107 and 108 may be the rigid body portions 117 and 118 themselves, or parts thereof (e.g., distal portions with free ends at the tips).

[0060] In a preferred embodiment, the control gripper 113 includes an elastic element 126 (for example, schematically shown in Figure 7A) between a first rigid body portion 117 and a second rigid body portion 118, the elastic element 126 biasing the first rigid body portion 117 and the second rigid body portion 118 toward each other. The elastic element of the control gripper 113 may include, for example, a torsion spring attached to a pin-type rotary joint, the rotary joint of which may be located between the rigid body portions 117 and 118. The elastic element of the control gripper 113 may include, for example, an axial spring such as a coil spring, the axial spring of which may be located between the rigid body portions 117 and 118 of the control gripper 113.

[0061] By providing elastic elements that bias the first rigid body portion 117 and the second rigid body portion 118 toward each other, the surgeon 150 needs to close the control gripper 113 so that the operating interface portions 115 and 116, and consequently the rigid body portions 117 and 118 of the control gripper 113, are brought toward each other, against the elastic biasing force.

[0062] By providing an elastic element 126 that biases the first rigid body portion 117 and the second rigid body portion 118 toward each other, it becomes possible to define a rest state (rest configuration) of the control gripper 113 having a predetermined distance and / or angle between identifiers 107 and 108.

[0063] The tracking system can be configured to calculate a control point PC, which is a virtual point rigidly associated with the control gripper 113, based on information detected regarding the position and orientation of the first rigid body portion 117 and the second rigid body portion 118 of the control gripper 113. This control point PC contains information regarding the position and orientation of the control gripper 113. Preferably, the control point PC is calculated as the midpoint between the rigid body portions of the control gripper, i.e., the midpoint between the detected positions of identifiers 107 and 108. In other words, the control point PC may include information for controlling the yaw degree of freedom Y of the slave surgical instrument 170, i.e., information regarding the overall orientation of the tip links 171, 172 of the articular tip portion 175 or the jaws 171, 172 relative to the support link 173. Therefore, the control point PC between the rigid body portions 117 and 118 may be a virtual point that does not belong to any part of the master device body. This is because there is no sensor-equipped element between the two rigid body parts that would enable the superposition angle range β of the rigid body parts 117 and 118 in order to control the yaw degree of freedom Y of the slave surgical instrument 170.

[0064] The slave surgical instrument 170 may be controlled by defining a slave control point 179, which is a virtual point rigidly associated with the articular end portion 175, for example, defined as the tip or the midpoint of the jaws 171, 172, and including information regarding the position and orientation of the articular end portion 175 (e.g., six degrees of freedom of orientation and position, and preferably information regarding opening and closing forces).

[0065] Information regarding the degree of opening and closing between the rigid body portions 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 can be added to the information contained in the control point PC.

[0066] According to one embodiment, each rigid body portion 117, 118 of the control gripper 113 has an angular range β of about 90° around a reference position, allowing, for example, that the rigid body portion 117 or 118 is positioned to be substantially aligned with the definable longitudinal axis of the control gripper 113. In other words, each rigid body portion 117, 118 is movable within a range of -45° to +45° with respect to the definable reference position.

[0067] The reference position of the first rigid body portion 117 may be aligned with and approximately coincide with the reference position of the second rigid body portion 118.

[0068] Preferably, the handle 111 is not equipped with tracking sensors or identifiers, and the operation of the slave's yaw degrees of freedom (rotational joints) is caused by the position taken when the surgeon grips the handle 111 and operates the master controller device, and operates the sensored control gripper with fingers F1 and F2. In other words, since the handle 111 has neither tracking sensors nor identifiers, it is transparent to the tracking system.

[0069] The angular range β of the first rigid body portion 117 may overlap with the angular range β of the second rigid body portion 118, and preferably coincides with it.

[0070] Therefore, the control point PC calculated by the tracking device of the master workstation device 101 can have an angular range β that falls within the range of -45° to +45° with respect 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.

[0071] For example, as shown in Figures 7A and 7B, by bringing the rigid body portions 117 and 118 of the control gripper 113 closer to each other substantially symmetrically, i.e., at the same speed, the position of the control point PC remains aligned with the definable longitudinal axis XX of the control gripper 113.

[0072] For example, as shown in Figures 7C to 7D, in a closed (or nearly closed) control gripper 113 where the rigid body parts 117 and 118 are in contact with each other, the control point PC can be moved by rotating both rigid body parts 117 and 118 simultaneously. In this way, the orientation of the joints of the tip links 171 and 172 or jaws 171 and 172 of the slave device 170 relative to the support link 173 is controlled, while the tip links 171 and 172 maintain a closed or nearly closed configuration (e.g., gripping or cutting state). In other words, the yaw rotation joint at the articular tip 175 of the slave surgical instrument 170 becomes operable.

[0073] For example, as shown in Figures 7E to 7F, when the control gripper 113 is open, the control point PC can be moved by moving one rigid body portion 117 or 118 within its angular range relative to the support portion 111, while keeping the other rigid body portion 118 or 117 stationary or substantially stationary relative to the support portion 111.

[0074] This configuration allows for the transmission of commands from the master to the slave by defining a control point PC that controls the slave control point 179.

[0075] By providing a rotary joint 114 between the rigid body portions of the control gripper 113, the control point PC can be moved relative to the handle 111 or support portion 111 within a plane defined by identifiers 107 and 108 of the rigid body portions 117 and 118. This plane belongs to the yaw degrees of freedom of the master controller device 110 and is therefore controlled by the surgeon's fingers (e.g., index and thumb). As a result, it is no longer necessary for the surgeon's wrist or elbow to control the yaw positioning (yaw). Therefore, the yaw degrees of freedom Y of the joint tip 175 of the slave surgical instrument 170 is controlled by the surgeon's fingers.

[0076] The robot system 100 is preferably configured as follows: Even if the reference point 106 of identifiers 107 and 108 is not located on the handle 111 or support 111, the yaw degree of freedom Y of the joint tip 175 of the slave surgical instrument 170 is actuated solely by the movement between them, i.e., solely by the relative movement between the rigid body parts 117 and 118 of the control gripper 113 around axis aa by the joint 114. This is because the roll and pitch directions of the handle (support) and / or control gripper are transmitted to the rigid body parts 117 and 118, and thus to identifiers 107 and 108, by rotating the control point PC, and then the roll rotation and pitch are transmitted to the slave control point 179, actinguating the joints of the relative roll R and pitch P of the joint tip 175.

[0077] In one embodiment, the control gripper 113 is rigidly attached to the handle 111 or support 111, and the control gripper 113 cannot be reoriented relative to the handle 111. As a result, the roll and pitch rotation of the handle or support is transmitted to the roll and pitch joint of the slave device 170, accompanied by the rotation of the control point PC.

[0078] The translation imposed on the control point PC can be controlled by translating the positioning shaft or rod 176 of the slave surgical instrument 170.

[0079] According to one embodiment, as shown in Figure 8, for example, each rigid body portion 117, 118 of the control gripper 113 is individually fixed to the support portion 111 via their respective rotary joints 114, 114'. The axes of rotation of each rigid body portion 117, 118 with respect to the support portion 111 are parallel to each other. This allows both rigid body portions to be hinged to the handle by independent rotary joints 114, 114', resulting in relative movement not only with respect to the handle but also with respect to the other rigid body portion. Elastic elements can be provided for each rotary joint 114, 114' to bias the rigid body portions 117, 118 away from each other. Alternatively, or in addition to this, an elastic element can be provided between both rigid body portions 117, 118.

[0080] The two rotary joints can be arranged coaxially. According to one embodiment, the control gripper 113 includes a rotary joint 114 between two rigid body parts 117, 118, constraining them to rotate around a common axis, which coincides with a first axis. This allows both rigid body parts to be hinged to the handle by a single rotary joint 114, so that one rigid body part moves not only relative to the handle but also relative to the other rigid body part. Elastic members 126 may be provided to bias the rigid body parts 117, 118 away from each other with respect to the common rotary joint 114. Alternatively, or in addition to this, elastic members 126 may be provided between both rigid body parts 117, 118.

[0081] Preferably, at least one rotary joint 114, 114' is a cylindrical joint.

[0082] In a preferred embodiment, the master controller device 110 includes a joint between the support portion 111 and the control gripper 113. In other words, the control gripper 113 has additional degrees of freedom relative to the support portion 111 or the handle 111, in addition to the opening and closing degrees of freedom and the yaw degrees of freedom provided by at least one rotary joint 114, 114' between the rigid portions 117, 118. Thus, the first and second rigid portions 117, 118 of the control gripper 113 are connected to an intermediate mechanical link via the opening and closing and yaw joints 114, 114', and have relative movement (degrees of freedom) with respect to the handle or support portion of the master controller device.

[0083] According to one embodiment, for example as shown in Figures 9A to 9B, the master controller device 110 is provided with a cylindrical rotary joint 121 between the support portion 111 and the control gripper 113, having an axis substantially parallel to the longitudinal axis XX of the control gripper 113. This allows the control gripper 113 to have a degree of freedom of roll relative to the handle 111 or the support portion 111. Therefore, it is possible to control the degree of freedom of roll of the master controller device 110, and consequently the degree of freedom of roll or rotation around the axis R of the slave surgical instrument 170, not by the surgeon's wrist / elbow, but by the fingers F1, F2 of the surgeon's hand H. For example, the handle 111 may have a longitudinal hole or cavity having a cylindrical inner wall 131 that engages with the cylindrical opposing surface 132 of the control gripper 113. The control gripper 113 may include a hub 119 in which both rigid portions 117, 118 are rotatably connected by one or more rotary joints 114, 114', and this hub 119 of the control gripper 113 includes a longitudinal tail portion having a cylindrical surface 132 that is housed within a cylindrical hole 132 of the handle 111.

[0084] According to one embodiment, for example as shown in Figures 10A to 10C, the master controller device 110 includes a cylindrical rotary and translational joint 121 between the support portion 111 and the control gripper 113. In other words, in addition to a cylindrical rotary joint having an axis substantially parallel to the longitudinal axis XX, this joint also provides a translational degree of freedom along the longitudinal direction XX of the control gripper 113, which may allow, for example, the retraction of the control gripper 113 relative to the support portion 111. Therefore, this joint may include a longitudinal hole or cavity having a cylindrical inner wall 131 that engages with the cylindrical opposing surface 132 of the control gripper 113, and the hole or cavity has a longitudinal length such that the longitudinal movement of the control gripper 113 can be guided by its cylindrical inner wall 131. A spring 133 can be provided to bias the control gripper 113 in the forward direction relative to the support portion 111. In operation, when the surgeon 150 moves fingers F1 and F2 of hand H to close the rigid body parts 117 and 118, the kinematic characteristics of the human hand result in a trajectory that is not perfectly circular and involves a physiological retraction movement. This retraction movement can be suitably absorbed by providing a longitudinal translational degree of freedom in the joint between the handle and the control gripper.

[0085] The spring 133 has a self-centering effect relative to the control gripper 113 and can bias the joint 121 toward its resting position. In other words, the rotary joint between the handle and the control gripper may include a spring (not shown) for biasing the joint toward a predetermined angular position (orientation).

[0086] The retraction / forward translation allowed by the joint allows the translational degrees of freedom of the slave surgical instrument 170 to be controlled, if necessary, by the fingers F1, F2 of the hand H gripping the support 111. For example, the robotic manipulator 160 may be equipped with one or more linear slide guides to cause the retraction / forward translation of the positioning shaft or rod 176 of the slave surgical instrument 170. A tracking system and / or associated control system can suppress the translation of the slave surgical instrument 170 in response to the control gripper 113 being retractively positioned relative to the handle 111.

[0087] For example, as shown in Figure 11, the support portion 111 may be a mountable element comprising an inner surface 112 for the palm P1 of the surgeon's hand H 150 and two opposing interface portions 115, 116 on the control gripper 113 for operation by the surgeon's fingers F1, F2. In this embodiment, a roll rotation joint 121 is provided between the support portion 111 and the control gripper 113, allowing the surgeon 150 to control the opening / closing, yaw, and roll degrees of freedom of the master controller device 110 with the fingers F1, F2 of the hand H wearing the support portion 111, which is then translated into control of the yaw and roll joints of the slave surgical instrument 170.

[0088] For example, as shown in Figure 12A, the body of the handle 111 may have an extension along its extension direction YY, which may be substantially parallel to the axis of rotation between two rigid body parts 117, 118 defined by at least one joint 114, 114'.

[0089] For example, as shown in Figure 12B, the extension direction YY of the handle 111 may form a sharp pitch angle α with the longitudinal direction XX of the control gripper 113. Preferably, the handle 111 is rigid, and the angle between the extension direction YY and the longitudinal direction XX of the control gripper 113 can be precisely predetermined.

[0090] According to one embodiment, the joint between the handle 111 or support portion 111 and the control gripper 113 can also orient the control gripper in the pitch direction, and the joint includes a spherical joint 123, as shown in Figure 15B, for example.

[0091] For example, as shown in Figures 13A to 13B, the joint between the support portion 111 and the control gripper 113 may include a rotary joint 124 that allows rotation about an axis substantially parallel to at least one rotation axis aa, a'-a' of at least one rotary joint 114, 114' between the rigid portions 117, 118 of the control gripper 113. According to one embodiment, the rotary joint 124 is a cylindrical joint. A connecting rod 134 and / or a rigid section 134 can be provided between the cylindrical joint 124 and at least one rotary joint 114, 114' of the control gripper 113. This allows the instantaneous rotation center CR of the control gripper 113 relative to the support 111 to be moved distally to at least one joint 114, 114', i.e., toward the control point PC, thereby expanding the yaw orientation range of the control gripper 113. This brings the instantaneous rotation center CR of the control gripper 113 closer to the operating interface sections 115, 116 where the surgeon 150 places fingers F1, F2 to operate the control gripper 113. Thus, the cylindrical joint 124 parallel to the joint 114 between the rigid sections 117, 118 allows the joint 114 to be moved in a plane between the control gripper and the handle by operation with fingers F1, F2.

[0092] According to one preferred embodiment, for example as shown in Figure 14, a spherical joint 123 and a joint including a linear guide 131 or cavity 131 for the movement of the spherical joint 123 and the longitudinal movement of the control gripper 113 are provided between the support portion 111 or handle 111 and the control gripper 113. The spherical joint 123 can be associated with a spring 133 for pre-loading the control gripper 113 in the pulling direction relative to the support portion 111, for example as shown in Figure 15A.

[0093] 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.

[0094] By providing the spherical joint 123, it becomes possible to control the pitch degrees of freedom of the master device 110 using the fingers F1 and F2 of the surgeon's hand H, instead of controlling it with the wrist / elbow.

[0095] For example, as shown in Figure 16, a cable such as the data connection cable 135, which has identifiers 107 and 108, for example, sensors 107 and 108, can pass through the body of the control gripper 113 and also through a passage provided inside the body of the handle 111.

[0096] Therefore, according to one embodiment, the master workstation 101 equipped with reference 106 can detect information regarding relative opening and closing movements in a plane (e.g., the distance and / or angle between sensors 107 and 108), longitudinal movement (e.g., the forward and backward direction of the surgeon's hand H1 relative to the palm P1), and three-dimensional rotation.

[0097] For example, as shown in Figure 17, the handle 111 or support portion 111 can be cap-shaped and have a dome-shaped or cap-shaped surface facing the palm P1 of the surgeon's hand H1. The joint 114 between the rigid portions 117 and 118 may be formed by an elastically flexible portion of the rigid portion itself.

[0098] 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 stroke end in or near the joint, or alternatively or additionally by including an elastic element for preloading. Expansion of the range of motion may depend on operational ergonomic reasons and can be adjusted during the design and / or assembly phases of the master controller device.

[0099] According to one embodiment, the joint between the handle 111 or support 111 and the control gripper 113 allows roll rotation of less than 360°, for example, within a range of ±160° from the median reference value. According to a preferred embodiment, the joint between the handle 111 or support 111 and the control gripper 113 allows roll rotation of less than 180°, for example, within a range of ±80° from the median reference value.

[0100] 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, enabling the control gripper 113 to be retracted approximately 1 cm relative to the support 111 by, for example, operation by the fingers F1, F2 of the surgeon's hand H. This retraction may impose resistance against the action of the spring 133.

[0101] According to one embodiment, the joint between the handle 111 or support portion 111 and the control gripper 113 allows yaw rotation with a range of motion of approximately 90°, preferably within a range of ±45° with respect to the central reference position. According to another embodiment, the joint allows yaw rotation with a range of motion of approximately 60°, preferably within a range of ±30° with respect to the central reference position.

[0102] According to one embodiment, the joint between the handle 111 or support portion 111 and the control gripper 113 allows for a pitch rotation having a range of motion of approximately 90°, preferably within a range of ±45° with respect to the central reference position. According to another embodiment, the joint allows for a pitch rotation having a range of motion of approximately 60°, preferably within a range of ±30° with respect to the central reference position.

[0103] According to a typical embodiment, an ungrounded master controller device 110 is provided, comprising a support 111 having a surface 112 for the palm of a surgeon's hand, and a control gripper 113 attached to the support 111, comprising two opposing operating interfaces 115, 116 for the fingers of the surgeon's hand, wherein the control gripper 113 includes a juxtaposed first rigid body portion 117 and a second rigid body portion 118, the first rigid body portion 117 being rotatably constrained to the support 111 about a first axis, and the second rigid body portion 118 being rotatably constrained to the support 111 about a second axis coincident with or parallel to the first axis, and the master controller device 110 may be associated with a tracking system configured to individually detect information regarding the position and orientation of the first rigid body portion 117 and the second rigid body portion 118 of the control gripper 113, thereby enabling control of a slave device 170 of a robotic system 100.

[0104] According to one embodiment, the master controller device 110 is one of the embodiments described above.

[0105] The following describes a method for controlling a robotic system for remote operation in medical or surgical applications.

[0106] The control method includes the step of providing a remote control system for medical or surgical use, comprising a master workstation 101 according to any of the embodiments described above, and a slave device including at least one slave surgical instrument 170. The slave surgical instrument 170 is preferably according to any of the embodiments described above.

[0107] This method includes controlling both the opening / closing degrees of freedom and the yaw degrees of freedom of a slave surgical instrument using fingers F1 and F2 of hand H1. These fingers are preferably the index finger and thumb.

[0108] In a preferred embodiment, the method further includes the step of controlling the pitch degrees of freedom with the same finger of the surgeon.

[0109] In a preferred embodiment, the method further includes the step of controlling the roll degrees of freedom with the same finger of the surgeon.

[0110] The features described above, that is, the features given individually or in combination where applicable, make it possible to meet the aforementioned requirements and, in particular, to obtain the following advantages.

[0111] -The surgeon can use fingers F1 and F2 of hand H to control the control gripper 113 for surgical remote operation across its multiple degrees of freedom, with palm P1 resting on the surface 112 of the handle or support 111;

[0112] - The control gripper is a control gripper equipped with sensors, and the handle is intended to be read by the tracking system while being transparent to the tracking system and performing ergonomic functions;

[0113] -By including redundant joints in the master controller device, internal degrees of freedom are formed in the master controller device adapted to transmit motion to slave surgical instruments by detecting the identifier of the control gripper, allowing the surgeon to amplify control of the slave surgical instruments using only fingers F1, F2, such as the index and thumb fingers of the hand gripping the master device;

[0114] - The use of fingers F1 and F2 allows surgeons to achieve finer, more precise, and less tiring control. This is particularly evident with master devices that can move freely within the workspace (ungrounded or flying type masters);

[0115] In particular, compared to the use of the wrist, elbow, or shoulder, using fingers F1 and F2 of the hand to manipulate each degree of freedom of the control gripper (which is then translated into manipulation of the slave degrees of freedom of the slave device) enables more precise and therefore highly desirable surgical remote control;

[0116] Therefore, by providing one or more degrees of freedom within the master device, it becomes possible to expand the range of motion of the surgeon's fingers, i.e., the working space of the surgeon's fingers;

[0117] - The relative movements of the rigid parts, moving towards / away from each other, are preferably performed within a definable plane, thereby enabling operation, i.e., moving only the corresponding tips or jaws 171, 172 of the articulated end 175 of the slave device 170, while the yaw joint movement (which may coincide with the intermaxillary opening and closing joint), pitch movement, and roll movement of the slave surgical instrument 170 are performed by moving the joint between the handle or support of the master device and the control pins. All of this is operated, for example, using only the index and thumb fingers F1, F2 of the hand H1, with the palm P1 resting on the surface 112 of the support or handle 111;

[0118] In particular, if a spherical joint is provided between the handle or support and the operating gripper, it is possible to control all joints of the slave side's roll, pitch, and yaw using only fingers F1 and F2.

[0119] -If translational (retraction) degrees of freedom are included, it is also possible to use a finger to control the linear translational degrees of freedom of the positioning shaft 176 of the slave surgical instrument 170 (e.g., one or more linear slides, e.g., a Cartesian-type robotic manipulator 160);

[0120] -The control gripper does not include a sensor-equipped body between its rigid parts, because orientation is communicated by an identifier or sensor, i.e., by calculations of control points between the rigid parts;

[0121] - The proposed solution allows for the natural hand movements of a surgeon operating a master device, based on the kinematics of the human hand.

[0122] - The proposed solution prevents the transmission of unwanted control signals to the slave device and avoids, or at least minimizes, the risk of the master device making undesirable repositioning in the surgeon's hands.

[0123] - The proposed solution offers improved ergonomics and safety compared to known methods.

[0124] - The proposed solution provides a master device that is intuitive, ergonomically superior, highly stable, and equipped with a fall prevention function.

[0125] - The proposed solution provides a master with a limited number of mechanical, electronic, and sensory components, and is also designed to be easily sterilizable or covered with a sterilization cloth.

[0126] - The proposed solution provides a master controller device that facilitates controlled, precise, and accurate movement and expands the range of motion of various relative degrees of freedom, particularly the yaw and roll axes.

[0127] - The proposed solution provides a master device that has a limited number of mechanical, electronic, and sensor components, and / or features a simple ergonomic design, and / or has a robust, fall-proof grip, without compromising relative degrees of freedom or range of motion, and / or has an easy sterilization design with a sterilization cloth, and / or facilitates controlled, accurate, and precise movement, particularly enabling movement along the yaw and roll axes.

[0128] To satisfy the requirements of a particular situation, a person skilled in the art can make various modifications and adaptations to the above embodiments, and can also replace elements with other functionally equivalent elements, without departing from the scope of the appended claims. [Explanation of Symbols]

[0129] 100 Remotely operated robotic systems for medical or surgical use 101 Master Workstation Assembly 106 Tracking device standards 107 First rigid body subidentifier 108 Second rigid body subidentifier 110 Master control device, or master device 111 Handle or support 112 Surface for the palm 113 Control Gripper 114 Control Gripper Joint 114' Further Control Gripper Joint 115 Operation Interface for the First Rigid Body 116 Operating Interface for the Second Rigid Body 117 First rigid body section, or rod 118 Second rigid body section, or rod 119 Control Gripper Hub 120 Display Systems 121 Cylindrical Roll Joint 123 Spherical joint 124 Cylindrical Yaw Joint 126 Elastic elements of control grippers 127 Free end of the first rigid body 128 Free end of the second rigid body 131 Translational guides, holes, seats, or cavities for control grippers 132 Cylindrical surface of the control gripper 133 Joint springs 134 Joint connecting rod 150 Surgeon 160 Robot Manipulators 170 Slave surgical instruments or slave devices 171 First tip link, or first jaw 172 Second tip link, or second jaw 173 Supporting Links 174 Further Proximal Links 175 Slave joint terminal 176 Positioning rod or shaft 177 Tendons 178 Free end 179 Slave control points F1 A surgeon's finger, for example, the index finger F2 Surgeon's fingers, for example, thumb H1 Surgeon's Hand P1 Surgeon's palm XX Control Gripper Vertical Axis YY Handle or Support Extension Shaft Y-shaped yaw rotation axis of a slave surgical instrument R Slave Surgical Instrument Roll Rotation Axis P-Slave Surgical Instrument Pitch Rotation Axis α Handle angle Stroke angle of the β-controlled gripper

Claims

1. A master workstation assembly (101) for a robotic system (100) for remote operation in medical or surgical applications, The robot system (100) includes at least one ungrounded master controller device (110) that controls the opening / closing degrees of freedom and yaw degrees of freedom of at least one slave surgical instrument, The system includes a tracking system that detects the position and orientation information of the master controller device, The master controller device (110) is A handle (111) having a surface (112) for the surgeon's palm, The control gripper (113) is coupled to the handle (111) and includes two opposite operating interfaces (115, 116) for the surgeon's fingers, The control gripper (113) has a first rigid body portion (117) and a second rigid body portion (118) arranged side by side. The first rigid body portion (117) is constrained to rotate around the first axis relative to the handle (111), The second rigid body portion (118) is constrained to rotate with respect 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 positional and orientation information of the first rigid body portion (117) and the second rigid body portion (118) of the control gripper, respectively, in the assembly.

2. The assembly according to claim 1, wherein the control gripper has an elastic element (126) between the first rigid body portion (117) and the second rigid body portion (118) that biases the first rigid body portion and the second rigid body portion to move apart from each other.

3. The tracking system is configured to process control points (PCs) including information on the position and orientation of the control gripper (113) based on the detected information on the position and orientation of the first rigid body portion (117) and the second rigid body portion (118), respectively. Preferably, the control point (PC) is calculated as the center point between the rigid body portions of the control gripper, according to claim 1 or 2.

4. The aforementioned tracking system, For example, the criteria (106) for defining the master standard system, The assembly according to any one claim, comprising: two identifiers (107, 108) fixed to each of the rigid body portions (117, 118) of the control gripper (113) for detecting the position and orientation of each rigid body portion with respect to a reference.

5. The aforementioned tracking system, Two tracking sensors, for example, of the magnetometer type, are fixed to each rigid body portion of the control gripper and function as identifiers. The assembly according to claim 4, comprising a tracking field generator, for example, a magnetic field generator, which functions as the aforementioned criterion.

6. The aforementioned tracking system, Two optical markers, each fixed to a rigid body portion of the control gripper and functioning as identifiers, The assembly according to claim 4, comprising an optical sensor, for example, a camera, which functions as a reference.

7. The assembly according to claim 4, wherein the tracking system has two encoders attached to the handle and operatively linked to each rigid body portion of the control gripper.

8. The assembly according to any one claim, wherein each rigid body portion (117, 118) of the control gripper (113) is individually fixed to the handle (111) at its rotary joint (114, 114').

9. The assembly according to any one claim, wherein the control gripper (113) has a rotary joint (114) between the two rigid body portions (117, 118) that restrains them to rotate around a common axis that coincides with the first axis.

10. The assembly according to any one claim, wherein the master controller device has a rotary joint between the handle (111) and the control gripper (113).

11. The rotary joint between the handle and the control gripper is A cylindrical yaw joint (124) having an axis parallel to the at least one joint (114, 114') between the rigid body portions (117, 118), The assembly according to claim 10, further comprising a connecting rod (134) connecting to the at least one joint (114, 114') between the rigid body portions (117, 118).

12. The assembly according to claim 10, wherein the rotary joint between the handle and the control gripper has a cylindrical rotary joint (121) that allows rotation of the control gripper relative to the handle.

13. The assembly according to claim 10, wherein the rotary joint between the handle and the control gripper is a spherical 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 gripper (113) further comprises an elastic element that biases the rotary joint in a predetermined direction.

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) has a guide (131) that allows movement of the control gripper (113) relative to the handle (111).

16. The assembly according to claim 15, wherein a spring (133) is provided that biases the handle (111) in the direction of pulling out the control gripper (113).

17. The assembly according to any one claim, wherein the handle (111) is transparent to the tracking system and, in particular, does not have a sensor and / or identifier, and functions as an ergonomic element intended to place the surgeon's finger in a specific position on the control gripper.

18. A method for controlling a remotely operated robotic system for medical or surgical purposes, A system for medical or surgical remote control comprising a master workstation assembly (101) according to any of the above claims and at least one slave surgical instrument (170), A control method comprising the step of controlling the opening / closing degrees of freedom and the yaw degrees of freedom of the slave surgical instrument with the fingers (F1, F2) of the hand (H1).

Images