Robotic surgical system and main controller assembly thereof

Abstract

A master controller assembly for a robotic surgery system, comprising: at least one slave robot assembly, the slave robot assembly comprising a slave surgical clamping device capable of providing movement with clamping freedom in a predefined slave clamping plane; and a control unit; wherein the master controller assembly comprises at least a portable handheld master input tool, the master controller assembly being operatively connected to the slave robot assembly; the master input tool comprising a master tool body; the master tool body comprising at least one surface to be manipulated, the surface to be manipulated being designed to be held by the surgeon's fingers, the master input tool being not mechanically constrained to the slave robot assembly, the master input tool comprising a clamping command detector device. A robotic surgery system is also provided.

Description

Technical Field

[0001] The present invention is directed to a master controller assembly for a robotic surgical system.

[0002] The present invention also relates to a robotic surgery system.

[0003] The present invention also relates to a method of controlling a robotic surgical system. Background Art

[0004] Robotic surgical assemblies comprising a master docking piece and a slave surgical tool are generally known in the art. In particular, a known type of robotic surgical assembly comprises a master control station capable of controlling the movement of a slave surgical end effector, as shown in document US-5876325. This document discloses a non-portable, robotically suspended articulated attachment, which is suspended to a beam fixedly constrained to the master control station, the attachment comprising a master tool to control a slave surgical end effector operating on a patient's body (anatomy: anatomy, human body, anatomical structure).

[0005] Similar solutions of non-portable robot-held master tools are shown, for example, in documents US-6424885 and US-6594552, in which an accessory of a master control station acting as a master tool to control a slave surgical end effector comprises an accessory body rigidly constrained to the master control station. The transmission of motion to the slave end effector is based on the detection of mechanical stresses caused by pushing the accessory body of the master control station in different spatial directions. Such an accessory body can be associated with a pair of opposite fins, each of which is constrained to the accessory body at one of its ends, in this way forming a cantilevered fin suitable for receiving manual commands for enabling the clamping degrees of freedom of the slave end effector.

[0006] However, non-portable, robot-suspended or robot-held master tool solutions of the type described above present some disadvantages. The arrangement of such control accessories mechanically constrained to the master control station of the robotic surgical assembly strongly restricts the surgeon's natural freedom of movement during surgery and forces the surgeon to operate in a predefined position from which the master control station and in particular the control accessories attached to the master control station are easily accessible. The surgeon's discomfort is still enhanced by the inability to adjust the position of such accessories, for example the height from the ground, in real time during surgery. This leads to untimely fatigue of the surgeon during surgery and leads to a loss of early concentration.

[0007] Furthermore, these known solutions have a huge volume encumber in the operating room, and at the same time the articulated attachment is capable of a minimal range of motion. In addition, the surgeon is forced to remain inside an immersed main console, which is usually placed in a predetermined fixed position outside the sterile area of ​​the operating room. Moreover, such a main attachment is made of several mechanical parts and components assembled together, resulting in high manufacturing time and costs.

[0008] Typically, surgeons have been trained for many years to properly manipulate surgical tools suitable for operating directly on the patient's body. Surgical tools are usually portable tools and include a tool handle suitable for being held and manipulated by a surgeon, and the handle is mechanically directly connected to the tool tip suitable for operating on the patient's body. Some examples of surgical tools for traditional ophthalmic surgery are shown in documents US-5634918 and WO-2012-064361. This traditional surgical tool ensures that the surgeon will know when the tool tip is not in contact with the patient's body, allowing the surgeon to safely (i.e., without transmitting any action on the patient's body) roll the tool handle between the fingers around the longitudinal axis of the tool handle in this way, and the need for gesture stress reduction is quite common among surgeons, such as being used to relax hand muscles and prevent muscle spasms during surgery. Moreover, rolling the tool handle between the fingers around the longitudinal axis can increase at least one degree of freedom of movement that is not driven by the surgeon's wrist joint.

[0009] In contrast, robotic microsurgery forces the surgeon to use a master tool to control the motion of an associated slave end effector that operates on the patient's body, and typically the master tool limits the surgeon's comfort during surgery and often forces the surgeon to train for an additional period of time to properly use the master tool to control the slave end effector. If the master tool is different in shape and function from a conventional surgical tool, the additional training period may even be longer.

[0010] As disclosed, for example, in document US-8996173, a wearable master tool has been provided, in which a pair of rings are designed to be fitted on the surgeon's fingers and wired to a robotic slave assembly. A set of coded gestures of the surgeon's fingers triggers predefined slave end-effector actions on the patient's body. Obviously, this solution requires very long training of the surgeon to properly manage such a wearable master ring in order to avoid the transmission of unexpected commands to the slave end-effector. For patient safety reasons, the transmission of unexpected commands to the slave should be avoided.

[0011] In order to overcome the deficiencies of the above-mentioned known solutions, and to provide a handheld master tool to be manipulated (i.e., according to the Latin: "something to be manipulated") having a shape familiar to most surgeons, documents WO-2017-064303 and WO-2017-064306 in the name of the same applicant show a master tool device that essentially replicates the appearance of traditional surgical forceps. This master tool device includes a pair of flexible metal strips that are welded together at one of their ends to form a forceps-like master input device. Suitably placed sensors help the magnetic pad to track the movement of the forceps and detect when the forceps are closed, and transmit the detected movement to the slave surgical end actuator.

[0012] Although satisfactory improvement of the surgeon's comfort during surgery, this type of solution is prone to defects. In particular, such flexible metal strips forming a forceps-like device force non-linear movement of the sensor placed on the free end of the metal strip, so the detection of the manually induced forceps closing movement used to simulate the grasping of an object generally results in measurement uncertainty and low sensing resolution. The mechanical vibrations generated in each metal strip during elastic bending generate noise detected by the tracking pad. This may lead to an unsatisfactory motion response of the driven end effector, which may even lead to serious complications in the patient's body after surgery. In addition, the tracking pad is suitable for generating a tracking magnetic field only from one side of the pad to force the surgeon not to move the handheld master tool to be manipulated on the back side of the pad, in which case the movement cannot be tracked and therefore the command signal cannot be transmitted to the end effector.

[0013] In addition, documents WO-2014-151621 and US-2015-038981 disclose a portable, handheld master input tool that can be manipulated by a surgeon as the surgeon moves through different locations in the operating area. The solution uses a video camera to track a suitably designed spherical body that cantilever out from the portable, handheld master tool body. In other words, a set of three asymmetric spherical bodies mounted on the master tool can be tracked by a camera device provided on the robot to determine the position and orientation of the master input tool for the purpose of transmitting command signals to the slave surgical end effector. Documents WO-2018-107062 and WO-2016-171757 disclose other examples of portable, handheld controllers. These solutions all include an internal annular chamber within the controller body that hosts a motor to provide tactile feedback to the user.

[0014] Although satisfactory from certain viewpoints, these solutions are prone to drawbacks. Since the tracking system based on visual cues allows the surgeon to operate while moving around the operating room, it also forces the robot to have a strong control system and may cause undesirable delays in the transmission of motion to the driven end effector, causing discomfort to the surgeon. Moreover, the solution does not replicate the shape of traditional surgical tools, which leads to unfamiliarity for the surgeon and forces the surgeon to extend the dedicated training time.

[0015] There is a need to provide a master input tool solution for robotic surgery that overcomes the shortcomings listed with reference to the prior art.

[0016] There is a need to provide a master input tool for robotic surgery that is suitable for improving surgeon comfort and at the same time is capable of providing high sensing accuracy.

[0017] There is a need to provide a master input tool for robotic surgery that can minimize the length of surgeon training.

[0018] There is a need to provide a handheld master input tool for robotic surgery that can be manipulated using the mobility of the fingers to avoid the need for movement by the surgeon's wrist.

[0019] There is a need for a sterile, handheld master input tool for robotic surgery that allows the surgeon to operate the tool at locations other than the patient's body.

[0020] It is desirable to provide a master input tool for robotic surgery that is suitable for avoiding the transmission of unwanted command signals to a slave end effector.

[0021] It would be desirable to provide a master input tool for robotic surgery that has no mechanical constraints on either the master control station or the slave robot. Summary of the invention

[0022] The scope of the present invention is to overcome the disadvantages mentioned with reference to the prior art.

[0023] These ranges and other ranges are achieved by the main controller assembly, robotic surgery system and method according to embodiments of the present application.

[0024] According to one aspect of the present invention, a master controller assembly for a robotic surgical system includes at least one portable, handheld master input tool and at least one sensing assembly. The master input tool includes a master tool body defining a longitudinal axis of the tool, and a clamping command detector device. The master tool body includes at least one surface to be manipulated that is designed to be held by the surgeon's fingers, and the surface to be manipulated is a convex surface so that the master tool body can roll around the longitudinal axis of the tool between the surgeon's fingers. The master input tool is not mechanically constrained to the slave robotic assembly, so that the master tool body can be naturally moved, turned and rotated by the surgeon.

[0025] The clamping command detector device of the master input tool detects the manual command, which is used to (directed to, pointed to, intended to, guided to, guided to) actuate the clamping freedom of movement of the slave surgical clamping device, wherein the clamping command detector device includes an operating part around the longitudinal axis of the tool, wherein the operating part includes at least one operating surface facing away from the longitudinal axis of the tool and suitable for facing the surgeon's fingers, and wherein the operating part can be operated by the manual command, which is a radially guided pressure effect applied at any point on the operating surface.

[0026] At least one sensing component of the main controller component detects the radially guided pressure action, so that the radially guided pressure action applied at any point on the operating surface determines the paired slave clamping movement action of the surgical slave clamping device, so that the paired clamping movement of the surgical clamping device is located in the predefined slave clamping plane.

[0027] Due to the proposed solution, the master orientation and the slave orientation can be decoupled when transmitting the clamping command action to the slave surgical instrument.

[0028] The clamping command can be detected by the sensing assembly as a linear displacement of two sensors received in slots provided in the main tool body of the main assembly.

[0029] Due to the proposed solution, a main controller assembly is provided, in particular a main controller assembly suitable for robot-assisted ophthalmic surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Further characteristics and advantages of the invention will emerge from the description of a preferred embodiment reported below with reference to the accompanying drawings, given as an example and not meant to be limiting, in which:

[0031] - Figure 1 and Figure 2is a perspective view of a robotic surgery system according to some embodiments;

[0032] - Figure 2 FIG. is a perspective view showing a main controller assembly according to an embodiment;

[0033] - Figure 3 and Figure 4 is a schematic diagram showing a master controller assembly and a slave surgical clamping device according to one embodiment in a three-dimensional view;

[0034] - Figure 5 , Figure 6 and Figure 7 is a perspective view of a main controller assembly held by a surgeon's hand according to some embodiments;

[0035] - Figure 8 and Fig. 9 is a perspective view of a main controller assembly according to some embodiments, wherein the sensing assembly is shown as a separate piece;

[0036] - Fig.10 is an exploded perspective view of a main controller assembly according to one embodiment;

[0037] - Fig.11 is a perspective view of a main tool body according to one embodiment;

[0038] - Fig.12 , Fig.13 , Fig.14 and Fig.15 is a radial section plane - as shown in the main clamping command detector device Figure 6 The radial section plane indicated by the arrows XII-XII-XII-XII in the figure - the obtained cross section;

[0039] - Fig.16 and Fig.17 is a block diagram of a robotic surgery assembly according to some embodiments;

[0040] - Fig.18 When a radially directed pressure is applied, according to one embodiment, a radial section plane is cut along the radial direction - as shown in the main controller assembly Figure 6 The radial section plane indicated by the arrows XII-XII-XII-XII in the figure - the obtained cross section;

[0041] - Fig.19 is when no manual command is applied according to one embodiment along a radial section plane - as shown in the main controller assembly Figure 6 The radial cutting plane indicated by the arrows XII-XII-XII-XII in the figure - the cross section obtained. DETAILED DESCRIPTION

[0042] According to a general embodiment, a robotic surgical system 201 includes at least a master controller assembly 202 adapted to detect manual commands 245, and at least one slave robotic assembly 203 including at least one slave surgical instrument 204. The slave surgical instrument 204 is designed to operate on a patient's body.

[0043] The slave surgical instrument 204 comprises at least one slave surgical clamping device 217 capable of providing the surgical instrument 204 with a movement with a clamping degree of freedom located in a predefined slave clamping plane 218. According to a preferred embodiment, the slave surgical clamping device 217 comprises a first elongated element 248 and a second elongated element 249, which are hinged with respect to each other to form a surgical clamping joint 220, preferably the surgical clamping joint 220 is a pin joint, which provides a single degree of freedom of movement to the first elongated element 248 and the second elongated element 249. Preferably, each of the first elongated element 248 of the slave surgical clamping device 217 and the second elongated element 249 of the slave surgical clamping device 217 comprises: a joint portion 251, which forms at least a part of the surgical clamping joint 250; and a cantilevered free end 255.

[0044] According to a preferred embodiment, the robotic surgical system 201 also includes a control unit 205, which is suitable for receiving a first command signal 246 containing information about the manual command 245, and is suitable for transmitting a second command signal 247 containing information about the manual command 245 to the slave robotic component 203 so as to actuate the slave surgical instrument 204.

[0045] The main controller assembly 202 includes at least a portable handheld main input tool 206, which is suitable for being held and manipulated by a surgeon from different locations of an operating site during surgery. In this way, the main controller assembly 202 has portability, for example, during surgery within the operating site.

[0046] The primary input tool 106 is adapted to receive the manual command 245 .

[0047] According to a preferred embodiment, the term "portable" refers to the master input tool indicating that the master input tool can be carried or moved by a surgeon, for example, during surgery. According to a preferred embodiment, the term "portable" refers to the master input tool indicating that the master input tool can be moved in space, can be detected by hands and / or fingers, or can change the orientation of the longitudinal axis.

[0048] According to a preferred embodiment, the term "handheld" refers to the master input tool indicating that the master input tool is designed to be operated while being held in a hand, such as a surgeon's hand. According to one embodiment, the surgeon's fingers can be used to roll or move the master input tool while it is held in the surgeon's hand.

[0049] According to a preferred embodiment, the term "operating field" refers to a part of the space at least partially surrounding the patient's body. Preferably, different locations other than the patient's body are included in the operating field.

[0050] According to a preferred embodiment, the term "manipulable" means that the master input tool indicates that the master input tool can be handled or operated using or like using a hand.

[0051] According to a preferred embodiment, the master input tool 206 is paired with the slave surgical instrument 204 along a master-slave pair. According to a preferred embodiment, the master input tool 206 and the slave surgical instrument 204 form a master-slave pair through the control unit 205.

[0052] The master controller assembly 202 is operatively connected to the slave robot assembly 203 .

[0053] The master input tool 206 includes a master tool body 209. Preferably, the master input tool body 209 defines the volume encumbrance of the master input tool 206.

[0054] The main tool body 209 defines: a tool longitudinal axis XX that coincides with the longitudinal development axis of the main tool body 209; a tool radial direction RR that is orthogonal to the tool longitudinal axis XX; and a tool circumferential direction CC that is orthogonal to both the tool longitudinal axis XX and the tool radial direction RR.

[0055] The main tool body 209 includes at least one surface 210 to be manipulated, which is designed to be held by the surgeon's fingers 211, 212. In this way, the portability of the main input tool 206 is enhanced.

[0056] The master input tool 206 is not mechanically constrained to the slave robotic assembly 203, so that the master tool body 209 can preferably be moved, turned and rotated naturally by the surgeon. According to one embodiment, the master input tool is not suitable for providing force feedback. The master input tool 206 is mechanically ungrounded. The master controller assembly 202 is not mechanically constrained and is not grounded.

[0057] The at least one surface to be manipulated 210 is a convex surface such that the main tool body 209 can be rolled about the tool longitudinal axis XX between the surgeon's fingers 211 , 212 .

[0058] According to a preferred embodiment, the master input means 206 comprises a clamping command detector device 213 for detecting the manual command 245. Preferably, the manual command 245 is used to actuate a movement in the slave surgical clamping device 217 having a clamping degree of freedom.

[0059] The clamping command detector device 213 comprises an operating portion 214 around the tool longitudinal axis XX.

[0060] The operating portion 214 comprises at least one operating surface 215 facing away from the longitudinal axis XX of the tool and suitable for facing the fingers 211 , 212 of the surgeon.

[0061] The operating portion 214 can be operated by the manual command 245, which is a radially directed pressure action 216 applied at any point of the operating surface 214. This allows the surgeon to manually command the slave surgical clamping device 217 by radially pressing the operating portion 214 of the master input tool 206.

[0062] Advantageously, the master input tool 206 includes at least one sensing component 222 for detecting the radially guided pressure action 216 , such that the radially guided pressure action 216 applied at any point on the operating surface 215 determines the paired slave clamping movement action 221 of the surgical slave clamping device 217 .

[0063] A further advantage is that the paired driven clamping movement effects 221 of the surgical clamping device 217 lie in the predefined driven clamping plane 218 .

[0064] Providing such a master input tool 206 allows the surgeon to command the slave surgical clamping device 217 to determine the slave clamping movement 221 located in the predefined clamping plane 218 by applying radially directed pressure at any point of the operating portion 214 of the master input tool 204 .

[0065] Providing such a robotic surgical system 201 enables the surgeon to decouple or separate the orientation of the master input tool 206 from the slave clamping motion action 221 of the paired surgical clamping devices 217 along the master-slave pair, because the paired slave clamping motion action 221 is located in the clamping plane 218, and the master manual command 245 can be applied at any point on the operating surface 215 as long as it is directed along the radial direction RR of the tool.

[0066] The provision of the master input tool 206 allows the surgeon to roll the master input tool body 209 within the surgeon's fingers 211, 212 about the tool longitudinal axis XX, avoiding loss of operational connection with the master-slave pair of slave surgical clamping devices 217 for this reason.

[0067] Thanks to this robotic surgical system 201, the surgeon commands the slave surgical clamping device 217 to move the slave surgical clamping motion action 221 in the predefined slave clamping plane 218, regardless of the orientation of the manual command 245 applied to the master clamping command detector device 213, preferably applied on the operating surface. Thus, the surgeon commands the slave surgical clamping device 217 regardless of the orientation of the master input tool 216.

[0068] According to an embodiment, the master input tool 206 is connected to the slave robotic assembly 203 , preferably via the control unit 205 , by means of at least one master wired connection 208 .

[0069] According to a preferred embodiment, when the operating part 214 is subjected to the radially guided pressure action 216, the paired slave surgical clamping devices 217 are subjected to a slave clamping movement action 221, which is guided to move the cantilevered free ends 255 of both the first extension element 248 and the second extension element 249 to close each other.

[0070] According to a preferred embodiment, the at least one surface to be manipulated 210 is located on the operating portion 214 of the main gripping command detector device 213. In other words, the operating portion includes the at least one surface to be manipulated 210.

[0071] According to a preferred embodiment, the operating surface 215 of the main gripping command detector device 213 includes the at least one surface to be manipulated 210. In other words, the operating surface 215 includes the at least one surface to be manipulated 210.

[0072] Providing such a manipulated surface 210 allows the surgeon to naturally hold the master input tool 206 and manipulate the master input tool 206 naturally, such as rolling the master input tool around the tool longitudinal axis XX, and at the same time allows the surgeon to command the slave clamping degrees of freedom of the slave surgical instrument 204 of the robotic surgical system 201.

[0073] According to one embodiment, the operating portion 214 of the main clamping command detector device 213 completely surrounds the tool longitudinal axis XX. In this way, the extent of the operating surface can be maximized.

[0074] According to a preferred embodiment, the at least one surface to be manipulated 210 is at least a portion of a cylindrical surface.

[0075] According to one embodiment, the operating portion 214 surrounds a major angular portion of the tool longitudinal axis XX. Preferably, the angle covered by the major angular portion in the circumferential direction CC is greater than 180 degrees, preferably greater than 240 degrees. According to a preferred embodiment, the angle covered by the major angular portion in the circumferential direction CC is greater than 270 degrees.

[0076] According to one embodiment, the operating surface 215 is a discontinuous surface, preferably formed by a plurality of non-joined surface portions all located on an imaginary geometrical surface at least partially surrounding the tool longitudinal axis XX.

[0077] According to one embodiment, the operating portion 214 comprises a plurality of strip-like elements 235 oriented substantially in the tool longitudinal direction XX, extending longitudinally between the first connection portion 227 and the second connection portion 228 of the operating portion 214 , defining a longitudinal hole 236 therebetween.

[0078] According to one embodiment, the operating surface 215 is a discontinuous surface in the circumferential direction CC.

[0079] According to an embodiment, the main tool body 209 is extendable in order to modify the volume encumbrance of the main tool 206 when in an operating condition. Preferably, when the radially directed pressure action 216 is applied to the main clamping command detector device 213, the main tool body extends.

[0080] According to one embodiment, the main tool body 209 includes a first body part 223 and a second body part 224, wherein the first body part 223 and the second body part 224 are capable of moving relative to each other, and wherein the clamping command detector device 213 cooperates with the first body part 223 and the second body part 224 so that the radially guided pressure action 216 applied at any point on the operating surface 215 determines the relative movement of the first body part 223 and the second body part 224 along a predefined movement axis, preferably the predefined movement axis is the tool longitudinal axis XX.

[0081] According to one embodiment, the sensing component 222 detects the relative movement of the first body portion 223 and the second body portion 224 along a predefined movement axis.

[0082] According to one embodiment, the relative movement of the first body portion 223 and the second body portion 224 is guided to move the first body portion 223 and the second body portion 224 away from each other, preferably when the radially guided pressure action 216 is applied to the main clamping command detector device 213.

[0083] According to one embodiment, at least one guiding device 225 is included between the first body portion 223 and the second body portion 224 , and the at least one guiding device guides the relative movement of the first body portion 223 and the second body portion 224 .

[0084] According to an embodiment, the clamping command detector device 213 of the master input tool 206 comprises an elastic element 226 which biases the operating surface 215 away from the tool longitudinal axis XX. In this way, an elastic preload is provided on the master clamping command detector device 213 which biases the operating surface 215 away from the tool longitudinal axis XX, so that the operating portion 214 is ready to receive the manual command, preferably the radially directed pressure action 216, after having been released.

[0085] According to one embodiment, the operating part 214 includes at least one first connecting part 227 connected to the first body part 223 of the main tool body 209, and at least one second connecting part 228 connected to the second body part 224 of the main tool body 209, so that the radially guided pressure action 216 applied at any point on the operating surface 215 loads the elastic element 226.

[0086] According to one embodiment, the elastic element 226 biases the first body portion 223 and the second body portion 224 of the main tool body 209 to be close to each other.

[0087] According to one embodiment, the elastic element 226 comprises an axial spring adapted to be loaded with elastic energy when axially compressed.

[0088] According to an embodiment, the first body portion 223 comprises a first abutment portion 229 forming an abutment wall for the elastic element 226 , and wherein the second body portion 224 comprises a second abutment portion 230 forming an abutment wall for the elastic element 226 .

[0089] According to an embodiment, the first abutment portion 229 faces the second abutment portion 230. Preferably, with respect to the relative movement of the first and second body portions of the main tool body 209, the first abutment portion 229 and the second abutment portion 230 are positioned in an undercut manner relative to each other.

[0090] According to one embodiment, the first body portion 223 includes a distal tool body 231 and a rod element 232, wherein the distal tool body 231 receives a portion of the rod element 232 such that the distal tool body 231 is integral with the rod element 232. According to one embodiment, the rod element 232 includes the first abutment portion 229.

[0091] According to an embodiment, the second body portion 224 of the main tool body 209 comprises a hollow barrel 233 and a proximal tool body 234. According to an embodiment, the hollow barrel 223 comprises the second abutment portion 230. Preferably, the hollow barrel defines a through hole directed in the tool longitudinal direction XX.

[0092] According to a preferred embodiment, the hollow barrel 233 is assembled to the rod element 232 so that the first abutment portion 229 of the rod element 232 faces the second abutment portion 230 of the hollow barrel 230. According to an embodiment, the elastic element is assembled to the rod element 232 and interposed between the first abutment portion 229 of the rod element 232 and the second abutment portion 230 of the hollow barrel 230.

[0093] According to a preferred embodiment, the first body part 223 includes the distal tool body 231 and the second body part 224 includes the proximal tool body 234, wherein the first body part 223 and the second body part 224 are capable of moving relative to each other, and wherein the clamping command detector device 213 cooperates with the first body part 223 and the second body part 224 so that the radially guided pressure action 216 applied at any point on the operating surface 215 determines the relative movement of the distal tool body 231 and the proximal tool body 234 along a predefined movement axis, preferably the predefined movement axis is the tool longitudinal axis XX.

[0094] According to one embodiment, the relative movement of the distal tool body 231 and the proximal tool body 234 is guided to move the distal tool body 231 and the proximal tool body 234 away from each other, preferably when the radially guided pressure action 216 is applied to the main clamping command detector device 213.

[0095] According to one embodiment, the elastic element 226 is adapted to exert an elastic action when loaded by a compressive axial load.

[0096] According to one embodiment, the elastic element 226 biases the first abutment portion 229 of the rod element 232 away from the second abutment portion 230 of the hollow barrel 230 .

[0097] According to an embodiment, the robotic surgery system 201, preferably the main controller assembly 202, comprises at least one field generator 207 generating a predefined field volume. According to a preferred embodiment, the at least one field generator 207 generates a magnetic field.

[0098] According to one embodiment, the slave robot assembly 203 further includes at least one surgical arm 252 for manipulating the slave surgical instrument 204. According to one embodiment, the slave robot assembly 203 includes at least one micromanipulator 253 for manipulating the slave surgical instrument 204. Preferably, the at least one micromanipulator 253 is directly connected in series to the surgical arm 252 to form a kinematic chain with the surgical arm 252, and the micromanipulator 253 manipulates the slave surgical instrument 204. According to one embodiment, at least two micromanipulators 253 are directly connected in series to the surgical arm 252 to form at least two bifurcated kinematic chains with the surgical arm 253.

[0099] According to an embodiment, the robotic surgery system 201 comprises at least one robotic cart 254, which comprises at least one cart ground contact unit 257 and a cart handle 256, wherein the cart handle 256 is suitable for moving at least a part of the robotic surgery system 201, preferably the slave robot assembly 203, at least within the operating room. Preferably, the robotic cart 254 forms a mechanical and structural support for the slave robot assembly 203, preferably a movable mechanical and structural support.

[0100] According to one embodiment, the robotic cart 254 is connected to a power supply cable 258 .

[0101] According to an embodiment, the robotic cart 254 comprises the control unit 205. Preferably, the control unit 205 and the robotic cart 254 are positioned integrally.

[0102] According to an embodiment, the robotic cart 254 comprises the field generator 207. In this way, the generated field volume is integral with the robotic cart 254.

[0103] According to one embodiment, the main controller assembly 202 further includes at least one surgical chair 250 including at least one seating surface 259 for a surgeon to sit on during surgery.

[0104] According to one embodiment, the surgical chair 250 is not mechanically constrained to the slave robotic assembly 203, thereby preventing mechanical contact of vibrating motions from being transmitted from the surgical chair 250 to the slave robotic assembly 203. In this way, the risk of unwanted commands being transmitted to the slave surgical robot 203, in particular to the slave surgical instrument 204, is reduced.

[0105] According to one embodiment, the operating chair 250 comprises the field generator 207 such that the field volume is integral with at least a portion of the operating chair 250 .

[0106] According to one embodiment, the master input tool 206 is operatively connected to the surgical chair 250 by means of a chair operative connection 260. According to one embodiment, the chair operative connection 260 is a wired connection. According to one embodiment, the chair operative connection 260 is a wireless connection.

[0107] According to one embodiment, the sensing component 222 includes at least one capacitive incremental position sensor, such as a capacitive encoder.

[0108] According to an embodiment, the at least one sensing component 222 detects at least the position of the master input tool 206, preferably within the predefined field volume, preferably at least the position and orientation of the master input tool.

[0109] According to an embodiment, the field generator 207 defines a reference zero point integral to the field generator 207, and wherein the at least one sensing assembly 222 detects the generated field local vectors X1, Y1, Z1, X2, Y2, Z2 determining at least the position of the sensing assembly 222. In this way, the sensing device 222 determines at least the position, preferably at least the position and orientation, of the master tool assembly 206 integral to the sensing device 222 within the predefined field volume.

[0110] According to one embodiment, the master input tool 206 is not mechanically constrained to the field generator 207 and the slave robotic assembly 203, so that the master tool body 209 can be naturally moved, turned and rotated by the surgeon within the predefined field volume.

[0111] According to one embodiment, the master controller assembly 202 is operatively connected to the slave robot assembly 203 via electromagnetic communication.

[0112] According to one embodiment, the electromagnetic communication is electrical or electromagnetic signal communication.

[0113] According to one embodiment, the master controller assembly 202 is operatively connected to the slave robot assembly 203 via a wired electrical connection.

[0114] According to one embodiment, the master controller assembly 202 is operatively connected to the slave robot assembly 203 via a wireless connection.

[0115] According to an embodiment, the sensing assembly 222 comprises at least one first sensor 237, which is integral with the first body portion 223 of the main tool body 209. Preferably, the first sensor 237 is integral with the distal tool portion 231 of the first body portion 223.

[0116] According to a preferred embodiment, the first body portion 223, preferably the distal tool portion 231, defines at least one first recess 238, which receives at least a portion of the sensing assembly 222, preferably the first sensor 237. According to one embodiment, at least a portion of the sensing assembly 222, preferably the first sensor 237, is received in the first recess 238 in a detachable manner, so that the main input tool 206 including or not including the sensing assembly 222 is disposable.

[0117] Preferably, the first groove 238 receives the first sensor 237 .

[0118] According to an embodiment, the sensing assembly 222 comprises at least one second sensor 240. According to an embodiment, the second sensor 240 is integral with the second body portion 224 of the main tool body 209. Preferably, the second sensor 240 is integral with the proximal tool portion 234 of the second body portion 224.

[0119] According to one embodiment, the second body portion 224, preferably the proximal tool portion 234, defines at least one second recess 241, which receives a portion of the sensing assembly 222, preferably the second sensor 240. According to one embodiment, at least a portion of the sensing assembly 222, preferably the second sensor 240, is received in the second recess 241 in a detachable manner, so that the main input tool 206 including or not including the sensing assembly 222 is disposable.

[0120] Preferably, the second groove 241 receives the second sensor 240 .

[0121] According to one embodiment, the sensing assembly 222 includes at least one sterile sensor container 263, which surrounds at least one of the first sensor 237 or the second sensor 240. In this way, the sterility of the sensor assembly 222 can be achieved without the need to replace the sensors 237, 240. In this way, the sterility of the sensor assembly 222 can be achieved to avoid the need to replace the sensors after a single operation. For example, the sterile sensor box 263 is a plastic bag and / or a plastic box surrounding each of the sensors. Preferably, the wired connection to the sensors 237, 240 is also surrounded by the sterile box or its accessories.

[0122] According to one embodiment, the first groove 238 faces in opposite directions relative to the second groove 241 so as to allow for a unique arrangement of the sensing device 222. In this way, the chance of misplacing the sensing assembly 222 is significantly reduced. According to one embodiment, the grooves 238, 241 have marking elements that are different from each other so that the sensors 237, 240 can be operatively connected to only one of the grooves 238, 241.

[0123] According to one embodiment, the arrangement of the grooves 238, 241 is asymmetrical. According to one embodiment, the arrangement of the sensors 237, 240 is asymmetrical. According to one embodiment, the first groove 238 is opposite to the second groove 241 with respect to the tool longitudinal axis XX.

[0124] According to an embodiment, the first body portion 223, preferably the distal tool portion 231, of the master input tool 206 defines a first longitudinal side 261. Preferably, a second longitudinal side 262 is defined opposite to the first longitudinal side 261 relative to the master clamping command detector device 213. According to an embodiment, the second body portion 224, preferably the proximal tool portion 234, defines the second longitudinal side 262.

[0125] According to one embodiment, the first sensor connection 239 and the second sensor connection 242 are both wired connections, and wherein the wiring of the first sensor connection 239 and the second sensor connection 242 are gathered on the same longitudinal side 261, 262 of the main tool body 209. In this way, the burden of the sensor connection is reduced. Preferably, the first sensor connection 239 and the second sensor connection 242 share the same wiring cable unit.

[0126] According to one embodiment, the main tool body 209 includes at least one back of hand rest portion 243 designed to contact at least a portion of the back of the surgeon's hand 244 when in an operating condition.

[0127] According to a general embodiment, a master controller assembly 202 for a robotic surgical system 201 according to any one of the above embodiments is provided. Preferably, the robotic surgical system 201 further comprises a slave robotic assembly 203, the slave robotic assembly comprising a slave surgical instrument 204, the slave surgical instrument having a surgical clamping device capable of providing the surgical instrument 204 with a movement with a clamping degree of freedom located in a predefined slave clamping plane 218.

[0128] According to a preferred embodiment, the master input tool 206 is adapted to be held and manipulated by the surgeon from different locations in the operating room during surgery; the master input tool 206 is adapted to receive manual commands 245 .

[0129] According to a preferred embodiment, the main input tool 206 comprises a main tool body 209, the main tool body 209 defining: a tool longitudinal axis XX substantially coincident with the longitudinal development axis of the main tool body 209; a tool radial direction RR orthogonal to the tool longitudinal axis XX; and a tool circumferential direction CC orthogonal to both the tool longitudinal axis XX and the tool radial direction RR. According to a preferred embodiment, the main tool body 209 comprises at least one surface to be manipulated 210, which is designed to be held by fingers 211, 212 of a surgeon.

[0130] According to a preferred embodiment, the master input tool 206 is not mechanically constrained to the slave robotic assembly 203, allowing the master tool body 209 to be naturally moved, turned, and rotated by the surgeon.

[0131] According to one embodiment, the term "not mechanically constrained" means that no mechanical features have a constraining effect on the free movement of the portable handheld master input tool when in an operating condition. According to one embodiment, the master input tool is connected to a part of the robotic surgical system by a wired connection, which is not suitable for mechanically constraining the master input tool when in an operating condition. Such a wired connection is provided for data transfer and / or power supply, even if the wired connection may cause the master input tool to stall under certain conditions, especially in a fault condition.

[0132] According to a preferred embodiment, the at least one surface to be manipulated 210 is a convex surface, so that the master tool body 209 can be rolled around the tool longitudinal axis XX between the surgeon's fingers 211, 212. Rolling the master input tool around the tool longitudinal axis between the surgeon's fingers adds at least one degree of freedom of movement to the master input tool, and the additional at least one degree of freedom is not driven by the surgeon's wrist joint.

[0133] According to a preferred embodiment, the master input tool 206 includes a clamping command detector device 213, which detects the manual command, and the manual command is used to actuate the movement of the slave surgical clamping device 217 with clamping freedom. The clamping command detector device 213 includes an operating part 214 around the longitudinal axis XX of the tool.

[0134] According to a preferred embodiment, the operating part 214 includes at least one operating surface 215 facing away from the longitudinal axis XX of the tool and suitable for facing the surgeon's fingers 211, 212, and the operating part 214 can be operated by the manual command, which is a radially guided pressure action 216 applied at any point on the operating surface 214.

[0135] According to a preferred embodiment, the main input tool 206 includes at least one sensing component 222, which detects the radially guided pressure action 216, so that the radially guided pressure action 216 applied at any point on the operating surface 215 is designed to determine the paired slave clamping movement action 221 of the surgical slave clamping device 217, and the paired clamping movement of the surgical clamping device 217 is located in the predefined slave clamping plane 218.

[0136] According to one embodiment, the sensing component 222 includes multiple parts located at different positions of the main input tool.

[0137] In the following, a method of controlling a slave clamping degree of freedom in a robotic surgical system 201 is described.

[0138] Preferably, the robotic surgical system 201 comprises at least one master controller assembly 202 adapted to detect manual commands 245, the master controller assembly 202 comprising at least one master input tool 206, and wherein the robotic surgical assembly 201 further comprises at least one slave robotic assembly 203 having a slave surgical instrument 204 designed to operate on a patient's body, the slave surgical instrument 204 comprising at least a slave surgical clamping device 217 capable of providing a movement with a clamping degree of freedom in a predefined slave clamping plane 218. Preferably, the robotic surgical assembly 201 further comprises a control unit 205 adapted to receive information about the manual commands and to transmit command signals to the slave robotic assembly 203 in order to actuate the surgical instrument 204. Preferably, the main input tool 206 includes a main tool body 209, which limits the volume burden of the main input tool 206, and wherein the main tool body 209 defines: a tool longitudinal axis XX that is substantially consistent with the longitudinal development axis of the main tool body 209; a tool radial direction RR that is orthogonal to the tool longitudinal axis XX; and a tool circumferential direction that is orthogonal to both the tool longitudinal axis XX and the tool radial direction RR.

[0139] According to one embodiment, the robotic surgery assembly 201 is as described in any of the previously described embodiments.

[0140] According to a general mode of operation, a method for controlling a slave clamping degree of freedom in a robotic surgical system 201 comprises the following steps:

[0141] - applying a radially directed pressure action 216 , exerting a radially directed pressure action at any point of the operating surface 215 of the main input tool 206 ;

[0142] Determining a paired slave clamping movement action 221 of the surgical slave clamping device 217 , wherein the paired clamping movements of the surgical clamping device 217 are located in the predefined slave clamping plane 218 .

[0143] According to one mode of operation, the method further comprises the step of naturally rolling the main tool body 209 around the longitudinal tool axis XX between the surgeon's fingers 211 , 212 .

[0144] According to one mode of operation, the method comprises repeating the steps of applying radially directed pressure and determining a paired driven clamping movement action, preferably after allowing the main tool body 209 to roll naturally around the longitudinal tool axis XX between the surgeon's fingers 211 , 212 .

[0145] By means of the above features provided separately or in combination in specific embodiments under appropriate circumstances, the above disclosed sometimes distinct needs can be met and the above advantages can be achieved, in particular:

[0146] -Provide the surgeon with a main controller assembly with a familiar shape;

[0147] - A user command to cause the slave end effector to clamp can be applied at any point on the annular surface of the master controller, thereby decoupling the relative orientation of the master and slave;

[0148] -Provide a magnetic field tracking field to detect displacement of the master controller's sensor while the surgeon actuates the annular surface to transmit clamping commands.

[0149] A person skilled in the art may make numerous changes and modifications to the embodiments described above or may replace elements with other functionally equivalent elements in order to meet incidental requirements without departing from the scope of the appended claims.

[0150] Reference numerals list

[0151] 201 Robotic Surgery System

[0152] 202 Main Controller Assembly

[0153] 203 Slave Robot Components

[0154] 204 Surgical instruments, or surgical instruments

[0155] 205 Control Unit

[0156] 206 Main Input Tool

[0157] 207 Field Generator

[0158] 209 Main tool body

[0159] 210 Surface to be manipulated

[0160] 211 Surgeon's Fingers

[0161] 212 The Surgeon's Other Finger

[0162] 213 Gripping command detector device, or master gripping command detector device

[0163] 214 Operation section

[0164] 215 Operating Surface

[0165] 216 Radial guide pressure effect

[0166] 217 Slave surgical clamping device, or surgical clamping device

[0167] 218 Slave surgical clamping plane

[0168] 219 Object to be grasped

[0169] 220 driven clamping joint

[0170] 221 Driven clamping motion

[0171] 222 Sensor Components

[0172] 223 first body part of main tool body

[0173] 224 second body part of the main tool body

[0174] 225 Guidance Device

[0175] 226 Elastic element

[0176] 227 Clamping command detector device first connection portion

[0177] 228 clamping command detector device second connection portion

[0178] 229 First abutment portion of the first body portion

[0179] 230 Second abutment portion of the second body portion

[0180] 231 distal tool body portion of the first body portion

[0181] 232 rod element of first body portion

[0182] 233 Hollow tube of second body part

[0183] 234 Proximal tool body portion of the second body portion

[0184] 235 Strips

[0185] 236 holes

[0186] 237 First Sensor

[0187] 238 First sensor groove

[0188] 239 First sensor connected

[0189] 240 Second sensor

[0190] 241 Second sensor groove

[0191] 242 Second sensor connection

[0192] 243 The back of hand rest portion of the main tool body

[0193] 244 The Back of the Surgeon's Hand

[0194] 245 Manual Commands

[0195] 246 First Command Signal

[0196] 247 Second command signal

[0197] 248 A first extension member of the slave surgical clamping device

[0198] 249 A second extension member of the slave surgical clamping device

[0199] 250 Surgical Chair

[0200] 251 Engagement portion of a slave surgical clamping device

[0201] 252 Surgical Arm

[0202] 253 Micromanipulator

[0203] 254 Robot Cart

[0204] 255 Cantilever free end

[0205] 256 Cart handle

[0206] 257 Cart Ground Contact Unit

[0207] 258 Power supply cable

[0208] 259 Seating surface of surgical chair

[0209] 260 Chair Operation Connection

[0210] 261 First longitudinal side

[0211] 262 Second longitudinal side

[0212] 263 Sterile Sensor Container

[0213] XX Tool longitudinal axis

[0214] RR Radial direction

[0215] CC Circumferential direction

[0216] YY is the longitudinal axis of the driven surgical instrument.

Claims

1. A main controller assembly (202) for a robotic surgery system (201), the robotic surgery system (201) further comprising: At least one slave robot assembly (203), the slave robot assembly comprising a slave surgical instrument (204) designed to operate on a patient's body, the slave surgical instrument (204) comprising at least a slave surgical clamping device (217), the slave surgical clamping device being capable of providing the slave surgical instrument (204) with a movement with a clamping degree of freedom located in a predefined slave clamping plane (218); and a control unit (205), the control unit being adapted to receive a first command signal containing information about a manual command, and being adapted to transmit a second command signal containing information about the manual command to the slave robot assembly (203) so as to actuate the slave surgical instrument (204); wherein the master controller assembly (202) is adapted to detect manual commands and comprises at least a portable handheld master input tool (206), the portable handheld master input tool being adapted to be held and manipulated by a surgeon from different locations in an operating room during surgery; the portable handheld master input tool (206) being adapted to receive the manual commands; And among them: - the master controller assembly (202) is operatively connected to the slave robot assembly (203); - the portable handheld master input tool (206) comprises a master tool body (209); - the main tool body (209) defines: a tool longitudinal axis (XX) substantially coincident with a longitudinal development axis of the main tool body (209); a tool radial direction (RR) orthogonal to the tool longitudinal axis (XX); and a tool circumferential direction (CC) orthogonal to both the tool longitudinal axis (XX) and the tool radial direction (RR); - the main tool body (209) comprises at least one surface to be manipulated (210) designed to be held by the surgeon's fingers (211, 212); - the portable, handheld master input tool (206) is not mechanically constrained to the slave robotic assembly (203), allowing the master tool body (209) to be moved, turned and rotated naturally by the surgeon; - at least one of the surfaces to be manipulated (210) is a convex surface, so that the main tool body (209) can be rolled around the tool longitudinal axis (XX) between the surgeon's fingers (211, 212); And among them: - the portable handheld master input tool (206) further comprises a clamping command detector device (213) for detecting the manual command for actuating the movement of the slave surgical clamping device (217) with the clamping degree of freedom; - the clamping command detector device (213) comprises an operating portion (214) around the tool longitudinal axis (XX); - the operating portion (214) comprises at least one operating surface (215) facing away from the longitudinal axis (XX) of the tool and suitable for facing the surgeon's fingers (211, 212); - the operating portion (214) is operable by the manual command, which is a radially directed pressure action (216) applied at any point of the operating surface (215); - the master controller assembly (202) further comprises at least one sensing assembly (222), the at least one sensing assembly detecting the radially directed pressure action (216), so that the radially directed pressure action (216) applied at any point of the operating surface (215) determines the paired slave clamping motion actions (221) of the slave surgical clamping device (217), so that the paired slave clamping motion actions of the slave surgical clamping device (217) are located in the predefined slave clamping plane (218); It is characterized in that - the main tool body (209) comprises a first body portion (223) and a second body portion (224), wherein the first body portion (223) and the second body portion (224) are movable relative to each other, - the gripping command detector device (213) cooperates with the first body portion (223) and the second body portion (224) so ​​that the radially directed pressure action (216) applied at any point of the operating surface (215) determines the relative movement of the first body portion (223) and the second body portion (224) along a predefined movement axis; -The sensing component (222) detects the relative movement of the first body part (223) and the second body part (224) along a predefined movement axis, so that the radially guided pressure effect (216) is sensed by detecting the relative movement of the first body part (223) and the second body part (224).

2. The main controller assembly (202) of claim 1, wherein: The operating portion (214) completely surrounds the tool longitudinal axis (XX).

3. The main controller assembly (202) of claim 1 or 2, wherein: The master tool body (209) is extendable to modify the volumetric footprint of the portable, handheld master input tool (206) when in an operational condition.

4. The main controller assembly (202) of claim 1 or 2, wherein: - The predefined movement axis is the tool longitudinal axis (XX).

5. The main controller assembly (202) of claim 1 or 2, wherein: The relative movement of the first body portion (223) and the second body portion (224) is directed to move the first body portion (223) and the second body portion (224) away from each other.

6. The main controller assembly (202) of claim 1 or 2, wherein: At least one guiding device (225) is included between the first body portion (223) and the second body portion (224), and the guiding device guides the relative movement of the first body portion (223) and the second body portion (224).

7. The main controller assembly (202) of claim 1 or 2, wherein: The sensing assembly (222) includes at least one first sensor (237); and - said first body portion (223) defines at least one first recess (238) for receiving said first sensor (237).

8. The main controller assembly (202) of claim 7, wherein: The first recess (238) removably receives the first sensor (237) such that the portable, handheld master input tool (206) with or without the sensing assembly (222) is disposable.

9. The main controller assembly (202) of claim 7, wherein: - the sensing assembly (222) comprises at least one second sensor (240); - said second body portion (224) defines at least one second recess (241) for receiving said second sensor (240).

10. The main controller assembly (202) of claim 9, wherein: The second recess (241) receives the second sensor (240) in a detachable manner, so that the portable handheld master input tool (206) including or excluding the sensing assembly (222) is disposable.

11. The main controller assembly (202) of claim 9, wherein: Both the first sensor connection (239) and the second sensor connection (242) are wired connections, and wherein the wiring of the first sensor connection (239) and the second sensor connection (242) are gathered on the same longitudinal side of the main tool body (209).

12. The main controller assembly (202) of claim 11, wherein: The sensing assembly (222) includes at least one sterile sensor container (263), at least one of the sterile sensor container surrounding the first sensor (237) and / or the second sensor (240); and / or wherein - The sterile sensor container (263) is a plastic bag and / or a plastic box surrounding each of the first sensor (237) and the second sensor (240).

13. The main controller assembly (202) of claim 1 or 2, wherein: - at least one of the surfaces to be manipulated (210) is positioned on the operating portion (214) of the gripping command detector device (213).

14. The main controller assembly (202) of claim 1 or 2, wherein: The grip command detector device (213) of the portable handheld master input tool (206) comprises a resilient element (226) which biases the operating surface (215) away from the tool longitudinal axis (XX).

15. The main controller assembly (202) of claim 14, wherein: - the operating portion (214) comprises at least one first connection portion (227) connected to the first body portion (223) of the main tool body (209), and at least one second connection portion (228) connected to the second body portion (224) of the main tool body (209), so that the radially guided pressure action (216) applied at any point of the operating surface (215) loads the elastic element (226); and / or wherein - the elastic element (226) biases the first body portion (223) and the second body portion (224) of the main tool body (209) toward each other; and / or wherein - the first body portion (223) comprises a first abutment portion (229) forming an abutment wall for the elastic element (226), and wherein the second body portion (224) comprises a second abutment portion (230) forming an abutment wall for the elastic element (226); and / or wherein - said first abutment portion (229) faces said second abutment portion (230).

16. A robotic surgery system (201), comprising: - A main controller assembly (202) according to any one of claims 1 to 15; - at least one slave robotic assembly (203), comprising a slave surgical instrument (204) designed to operate on a patient's body, the slave surgical instrument (204) comprising at least a slave surgical clamping device (217) capable of providing the slave surgical instrument (204) with a movement having a clamping degree of freedom located in a predefined slave clamping plane (218), - a control unit (205) adapted to receive a first command signal containing information about the manual command and to transmit a second command signal containing information about the manual command to the slave robotic assembly (203) in order to actuate the slave surgical instrument (204); Wherein, the paired slave clamping motion actions of the slave surgical clamping device (217) are located in the predefined slave clamping plane (218).

17. The robotic surgery system (201) according to claim 16, comprising at least one magnetic field generator (207) generating a predefined field volume (208); and wherein A sensing component (222) detects at least a position of the portable, handheld master input tool (206) within the predefined field volume (208).

Images