Sterile consoles and robotic surgery systems

Abstract

The present disclosure relates to a sterile control console and a robotic surgical system. The sterile control console includes: a master input tool that is mechanically ungrounded and suitable for being held by a surgeon during surgery; a surgical chair including at least one seating surface for the surgeon to sit on during surgery; a tracking system suitable for detecting the position and orientation of the master input tool within a predefined tracking volume; a tool support element that provides support for the master input tool to rest on the tool support element when the surgeon is not holding the master input tool; a slave robotic assembly including a surgical instrument designed to operate on a patient's body; a control unit; a field generator of the tracking system is integrated with a portion of the surgical chair so that when the surgeon sits on the seating surface of the surgical chair and holds the master input tool, the master input tool is located within the tracking volume and its position and orientation can be detected by the tracking system.

Description

Technical Field

[0001] The object of the present invention is a sterile console.

[0002] In particular, the sterile console is suitable for robotic surgery.

[0003] The present invention also relates to a robotic surgery system and an operation site comprising the sterile console.

[0004] Furthermore, the object of the invention is a method of performing an operation. Background Art

[0005] Robotic surgical assemblies comprising a master docking piece and a slave surgical tool are well known in the art. In particular, a known type of robotic surgical assembly comprises a control station comprising a display and connected to the master docking piece, as shown, for example, in document WO-2016-201207, wherein an attachment of the control station is used as a master input tool to control a slave surgical instrument operating on a patient's body.

[0006] For example, document US-2008-177285 shows a main control console equipped with armrests attached to a seat element, wherein a mechanically constrained appendage protrudes from each armrest to form a free end comprising a wearable metal ring designed to fit on a surgeon's finger to detect manual commands provided by the surgeon wearing such a ring. The main control appendage is directly connected to an articulated lever assembly to transmit commands to the driven part of the robot.

[0007] The surgical master control station disclosed in the above-mentioned document forces the surgeon's arms and hands to have an uncomfortable posture during surgery due to the burden of such wearable mechanical accessories.

[0008] For example, document EP-2845556 shows a master control station for telerobotic surgery, equipped with a display and a control seat, the control seat comprising mechanical appendages protruding from a frame structure integral with the armrests of the seat, the mechanical appendages serving as master input tools to control slave surgical robot arms. Such a master input appendage is connected to a force / torque detector and a force compensator for detecting manual commands of the target surgeon and transmitting these information to the slave surgical tool via a data processing unit.

[0009] The remote control station forces the surgeon to operate while sitting in a dedicated control room, because the remote control station is not suitable for being sterilized and placed in a sterile operating field, i.e., around an operating table, and at the same time, such a control station is designed to be immovable, in other words, is not designed to be easily relocated to various locations in the remote control room.

[0010] Furthermore, such a remote control station forces the surgeon to operate to insert his / her arm into the metal frame to access the main control attachment. Although satisfactory in reducing the noise caused mainly by mechanical vibrations transmitted from the surgeon to the main mechanical attachment where the force / torque detector is located, this solution forces the surgeon to operate while taking uncomfortable positions and postures, especially during prolonged surgical operations. When performing robotic surgery using such a remote control station, the surgeon's perception of the surgery is unreal, because the surgeon sits in an immovable console placed in a room that can ideally be located away from the operating site and can manipulate the main control attachment where the force / torque detector is located and has the appearance of a control lever.

[0011] Therefore, there is a need to improve surgeon comfort during robotic surgery while enabling the surgeon to manipulate familiar primary controls.

[0012] For example, documents WO-2017-064303 and WO-2017-064306 in the name of the same applicant show a main docking piece with control means that replicate the appearance of a pair of common surgical forceps, these forceps equipped with sensors to properly detect the tracking field generated by a tablet connected to the forceps. Although partially satisfactory and specifically intended to shorten the training time of surgeons performing robotic surgery due to the familiarity of operating such a pair of common surgical forceps, these solutions are prone to disadvantages.

[0013] In particular, in such known solutions, the volume detected by the tracking tablet is limited to a portion of the space located above the tracking tablet. Therefore, the surgeon is not allowed to move the master input tool below the master tracking tablet, thereby limiting the surgeon's range of motion and comfort during the operation. In other words, when the surgeon moves the master controller below the master tracking tablet, the master tracking tablet cannot detect the movement of the master controller and, accordingly, cannot transmit the movement to the slave robot end effector.

[0014] Therefore, there is a need to improve the surgeon's freedom of movement during robotic surgery while allowing the surgeon to adapt to operating familiar primary controls.

[0015] Document US-2014-0018960 discloses a master docking piece, which includes a remote control console connected to a control system for actuating a remotely operated slave robot arm that operates on a patient. The console is equipped with a mechanically ungrounded master tool holding device, which defines a body-centered reference system, in other words, the reference system is centered on the surgeon operating this mechanically unconstrained master tool holding device. In this way, a control unit that detects the body-centered reference system collects information about the position and orientation of the master tool holding device and sends command signals to the slave robot arm to actuate its end effector. Other examples of remote control consoles are shown in documents US-2018-0078319 and US-2018-0092706.

[0016] A solution for laparoscopic surgery is known from document WO-2014-151621, which shows a main platform comprising: a display suitable for displaying a laparoscopic view; a wired or wireless main controller with optical or electromagnetic tracking; and a resting rod suitable for the forearm of a standing surgeon to rest on. The main advantage of this solution is the ability to track the movements of the main controller in a volume extending both above and below the resting rod, resulting in an extended range of motion for the surgeon during laparoscopic surgery and allowing the surgeon to rest his forearm on the resting rod. In addition, this solution also allows the surgeon to simultaneously use the main controller operated by the end effector of the robot and conventional surgical tools suitable for operating directly on the living body, providing the surgeon with a wide range of possible surgical treatments.

[0017] Despite the above advantages, the disclosed solution fails to provide a comfortable and reliable posture for the surgeon during robotic surgery. Due to the inherently uncomfortable surgeon posture forced by the master platform solution, the optical tracking of the master controller disclosed therein permits the surgeon to walk around the operating room during surgery, but often results in a loss of concentration for the surgeon and / or surgical team, especially for prolonged operations, and is prone to unwanted accidental collisions with robotic components.

[0018] There is a need to provide a solution for a sterile console for robotic surgery that allows the surgeon to operate in a comfortable position and at the same time is suitable for improving the safety of the patient and the robot parts during robotic surgery.

[0019] There is a need to provide a solution for a sterile console that allows the surgeon to operate safely in a comfortable position and for this reason avoids limiting the allowed range of motion.

[0020] There is a need to provide a sterile console for robotic surgery that is suitable for improving the precision, concentration and therefore reliability of robotic surgery and at the same time suitable for prolonged operation without thereby causing a high degree of discomfort or unfamiliarity for the surgeon. Summary of the invention

[0021] The scope of the present invention is to overcome the disadvantages mentioned with reference to the known art.

[0022] The scope of the present invention is to provide a sterile control console for a robotic surgery system designed to improve the comfort of the surgeon during robotic surgery without compromising the reliability of the robotic surgery.

[0023] These and other aspects are achieved by the sterile console and robotic surgical system described in accordance with the present application.

[0024] According to one aspect of the present invention, a sterile control console for a robotic surgical system includes: at least one primary input tool that is mechanically ungrounded and suitable for being held by a surgeon during surgery; at least one surgical chair including at least one seating surface for the surgeon to sit on during surgery; at least one tracking system suitable for detecting the position and orientation of the at least one primary input tool within a predefined tracking volume; and at least one tool support element that provides support for the at least one primary input tool so that the at least one primary input tool rests thereon when the surgeon is not holding the at least one primary input tool.

[0025] The at least one master input tool defines at least one first reference frame attached thereto, and the tracking system includes a field generator defining a second reference frame attached thereto, and the tracking volume is integral with the field generator of the tracking system, and the position and orientation detected by the tracking system are the position and orientation of the at least one first reference frame relative to the second reference frame, whereby the control unit of the robotic surgical component is suitable for receiving information about the position and orientation of the at least one master input tool within the tracking volume, and is suitable for transmitting command signals to the slave robotic component so as to actuate the at least one surgical instrument.

[0026] A field generator of the tracking system, such as a magnetic field generator, is integrated with a portion of the surgical chair so that when the surgeon sits on the seating surface of the surgical chair and holds at least one primary input tool, the primary input tool is located within the tracking volume and its position and orientation can be detected by the tracking system.

[0027] The seating surface of the surgical chair can be pivoted about a substantially vertical roll axis, and the field generator of the tracking system is integral with the seating surface so that the tracking volume is integral with the seating surface of the surgical chair of the sterile console during pivoting of the seating surface about the substantially vertical roll axis.

[0028] The surgical chair may include a lower seat support portion integral with the seating surface and a seat base structure providing structural support to the lower seat portion, and the lower seat support portion may pivot relative to the seat base structure about a substantially vertical roll axis, and the field generator may be integral with the lower seat support portion, such that the tracking volume is integral with the seating surface during rolling of the seating surface of the surgical chair of the sterile console about the substantially vertical roll axis.

[0029] The sterile console may include a sterile drape covering at least the seating surface of the surgical chair, and preferably also covering the armrest surface of the armrest assembly of the surgical chair, and preferably also covering the rear seat portion of the surgical chair. The sterile drape may include a plastic lining or the like.

[0030] Thanks to the proposed solution, a sterile control console for robotic surgery is provided which is adapted to be positioned within an operating field around a patient's body during surgery and to be moved during surgery without thereby causing unwanted command signals to be transmitted to the surgical end effector.

[0031] The operating room may include: at least one of the sterile control consoles described above; and at least one slave robotic assembly including at least one surgical instrument designed to operate on a patient's body; and a patient support structure, such as an operating bed or the like, forming a support for placing the patient's body thereon and positioning it within the operating room during surgery.

[0032] The sterile console can be placed in the operating room close to the operating table and need not be single-use only for this reason.

[0033] The robotic surgical system may include: at least one of the sterile control console and at least one slave robotic assembly, the at least one slave robotic assembly including at least one surgical instrument designed to operate on a patient's body; and a control unit adapted to receive information about the position and orientation of the at least one master input tool within the tracking volume and adapted to transmit command signals to the slave robotic assembly to actuate the at least one surgical instrument. The robotic surgical system as a whole may be located within an operating room. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Other characteristics and advantages of the invention will become apparent from the description of the preferred embodiments reported below, with reference to the accompanying drawings, which are given as examples and are not meant to limit the invention, in which:

[0035] - Figure 1 is a top view schematically showing a sterile control console in an operating area according to one embodiment;

[0036] - Figure 2 is a top view schematically showing a remote non-sterile control console;

[0037] - Figure 3 is an isometric view showing a robotic surgical system according to one embodiment, the robotic surgical system including a sterile control console within an operating room;

[0038] - Figure 4 is an axonometric view of a sterile control console according to one embodiment;

[0039] - Figure 5 is an axonometric view of a sterile control console according to an embodiment, showing a seat occupancy detector;

[0040] - Figure 6 is an axonometric view showing a sterile control console according to one embodiment, showing a seat occupancy detector and a sterile display;

[0041] - Figure 7 is an axonometric view showing a sterile control console according to an embodiment, wherein a predefined tracking volume is shown;

[0042] - Figure 8 is an axonometric view showing a sterile control console according to one embodiment;

[0043] - Fig. 9 and Fig.10 is an axonometric view showing a robotic surgical system including a sterile control console according to some embodiments;

[0044] - Fig.11 is an isometric view showing a sterile console tool according to an embodiment, showing the tool wirelessly connected;

[0045] - Fig.12 is an axonometric view showing a sterile control console according to one embodiment;

[0046] - Fig.13 is an isometric view showing a robotic surgical system according to an embodiment, the robotic surgical system including a sterile console within a procedure site, wherein a chair wireless connection is shown;

[0047] - Fig.14 and Fig.15 is a perspective view showing a sterile control console according to one embodiment, showing each armrest assembly associated with a field generator;

[0048] - Fig.16 is a schematic diagram of a robotic surgery system according to an embodiment;

[0049] - Fig.17 is a schematic diagram of a robotic surgery system according to one embodiment;

[0050] - Fig.18 is a side view schematically showing a sterile console in an operating room according to an embodiment, wherein a sterile drape is provided to cover a surgical chair;

[0051] - Fig.19 is a perspective view showing a sterile control console according to one embodiment;

[0052] - Fig. 20 is an axonometric view showing a surgical chair covered by a sterile drape according to one embodiment. DETAILED DESCRIPTION

[0053] According to a general embodiment, a sterile control console 302 for a robotic surgical system 301 is provided.

[0054] According to a general embodiment, a robotic surgery system 301 including at least one sterile console 302 as described is provided.

[0055] According to a preferred embodiment, the robotic surgery system 301 includes at least one master input tool 306 .

[0056] The master input tool 306 is mechanically ungrounded and adapted to be held by the surgeon 332. Preferably, the use of the term "mechanically ungrounded" master input tool 306 means a master input tool that is mechanically unconstrained with respect to possible positional and directional movements within a predefined working volume. For example, the predefined working volume is a master input tool that permits tracking of positional movements within the length of the surgeon's 332 arm and tracking of all orientations.

[0057] According to an embodiment, the robotic surgical system 301 comprises the at least one sterile control console 302 adapted to detect manual commands 348 and at least one slave robotic assembly 303, wherein the sterile control console 302 comprises the master input tool 306, and wherein the slave robotic assembly 303 comprises at least one surgical instrument 304 designed to operate on a patient's body 337. Preferably, the at least one surgical instrument 304 forms a teleoperated end effector of the slave robotic assembly 303, which is paired with the master input tool 306 along a master-slave pair.

[0058] According to one embodiment, the mechanically ungrounded master input tool 306 is unconstrained by the slave robotic assembly 303 in terms of both position and directional movement (e.g., sway, heave, oscillation, pitch, yaw, and roll in a Cartesian coordinate system, etc.) within the surgeon's accessible workspace and / or the workspace of the hand tracking transmitter. Preferably, the master input tool 306 is an ungrounded master input tool.

[0059] According to a preferred embodiment, the at least one master input tool 306 is suitable for being held by the surgeon 332 during surgery and manipulated from various locations in the operating room 333. According to a preferred embodiment, the term "operating room" refers to a portion of the space that at least partially surrounds the patient's body 337. Preferably, different locations are included in the operating room 333 in addition to the patient's body. Preferably, the term "operating room 333" does exclude remote locations, such as a remote control console 358 that communicates remotely with a surgical robot placed next to the patient's body, for example including a visualization screen. Preferably, the term "operating room" refers to a location in the same room of the patient during surgery, at which the surgeon can directly see the patient's body 337.

[0060] According to e.g. Figure 1 In the preferred embodiment shown, the sterile console 302 is located within the operating area 333.

[0061] According to a preferred embodiment, the sterile console 302 includes a sterile drape 361 covering the seating surface 310 of the surgical chair 309. Due to the provision of the sterile drape 361, biological isolation is provided from the seating surface 310 of the surgical chair 309 of the sterile console 302 and the patient's body 337, thereby reducing the risk of infection. In addition, in this way, the surgical chair 309 does not need to be sterilized before each operation and can be placed in the operating area 333.

[0062] According to a variant, Figure 2 As shown, surgeon 332 may operate from a remote location 358 and cannot directly see patient body 337 and is therefore forced to use remote visualization devices 359, 360, such as remote screen 359 and / or remote glasses 360. Preferably, remote location 358 is isolated from operating site 333 by a wall 362 or barrier 362.

[0063] According to a preferred embodiment, the term "manipulation" in relation to the master input tool 306 indicates that the master input tool can be handled or operated by hand or like a hand. According to a preferred embodiment, the term "handheld" in relation to the master input tool 306 indicates that the master input tool is designed to be operated when held by a hand, such as a surgeon's hand 356. According to an embodiment, the master input tool 306 is a portable master input tool 306. According to a preferred embodiment, the term "portable" in relation to the master input tool 306 indicates that the master input tool can be carried or moved.

[0064] According to one embodiment, the slave robot assembly 303 includes at least one surgical arm 334 for manipulating the surgical instrument 304. According to one embodiment, the slave robot assembly 303 includes at least one micromanipulator 335 for manipulating the surgical instrument 304. Preferably, the at least one micromanipulator 335 is directly connected in series to the surgical arm 334, forms a kinematic chain with the surgical arm 334 and manipulates the surgical instrument 304. According to one embodiment, at least two micromanipulators 335 are directly connected in series to the surgical arm 334, and form at least two branch kinematic chains with the surgical arm 334.

[0065] According to an embodiment, the robotic surgical system 301 comprises a control unit 305 adapted to receive at least a position and an orientation associated with the master input tool 306 and to transmit command signals to the slave robotic assembly 303 to actuate the surgical instrument 304 .

[0066] According to a preferred embodiment, the control unit 305 is adapted to receive a first command signal 349 containing information about the manual command 348 and transmit a second command signal 350 containing information about the manual command 348 to the slave robot component 303 to actuate the surgical instrument 304 .

[0067] According to one embodiment, the slave robot assembly 303 includes at least one surgical arm 334 for manipulating the surgical instrument 304. According to one embodiment, the slave robot assembly 303 includes at least one micromanipulator 335 for manipulating the surgical instrument 304. Preferably, the at least one micromanipulator 335 is directly connected in series to the surgical arm 334, forms a kinematic chain with the surgical arm 334 and manipulates the surgical instrument 304. According to one embodiment, at least two micromanipulators 335 are directly connected in series to the surgical arm 334, and form at least two branch kinematic chains with the surgical arm 334.

[0068] According to a preferred embodiment, the robotic surgical system 301, and preferably the sterile console 302 of the robotic surgical system 301, also includes at least one tracking system, which includes a field generator 307 or a base component 307, suitable for detecting the position and orientation of the main input tool 306 within a predefined tracking volume 308.

[0069] According to a preferred embodiment, the at least one tracking system generates the predefined tracking volume 308, for example by means of a field generator, such as a magnetic field generator. According to an embodiment, the field generator 307 of the tracking system comprises a magnetic field generator and / or a light field generator. According to a preferred embodiment, the base part 307 generates a field defining the predefined tracking volume 308.

[0070] The master input tool 306 defines a first reference frame X1, Y1, Z1; X2, Y2, Z2 attached thereto. In other words, the robotic surgery system 301 includes a first reference frame X1, Y1, Z1; X2, Y2, Z2 attached thereto.

[0071] The sterile console 302 includes at least one surgical chair 309, which includes at least one seating surface 310 for the surgeon to sit on during surgery. According to one embodiment, the surgical chair 309 is a stool. Preferably, the sterile console 302 includes the surgical chair 309 and the at least one main input tool 306.

[0072] The field generator 307 of the tracking system defines a second reference frame X0, Y0, Z0 attached thereto. In other words, the robotic surgery system 301 comprises a second reference frame X0, Y0, Z0 attached to the field generator 307 of the tracking system.

[0073] The field generator 307 of the tracking system is designed to detect the position and orientation of the master input tool 306 within the predefined tracking volume 308 .

[0074] Preferably, the predefined tracking volume 308 is spatially fixed relative to the field generator 307. In other words, the tracking volume 308 is integral with the field generator 307 of the tracking system.

[0075] Advantageously, the position and orientation of the master input tool 306 detected by the field generator 307 of the tracking system is the position and orientation of the first reference system X1, Y1, Z1; X2, Y2, Z2 relative to the second reference system X0, Y0, Z0 within the tracking volume 308. According to an embodiment, the robotic surgery system 301 comprises a control unit 305 adapted to receive at least the position and orientation associated with the master input tool 306 and to transmit command signals to the slave robotic assembly 303 to actuate the surgical instrument 304.

[0076] According to a preferred embodiment, the control unit 305 is adapted to receive a first command signal 349 containing information about the manual command 348 and transmit a second command signal 350 containing information about the manual command 348 to the slave robot component 303 to actuate the surgical instrument 304 .

[0077] According to one embodiment, the slave robot assembly 303 includes at least one surgical arm 334 for manipulating the surgical instrument 304. According to one embodiment, the slave robot assembly 303 includes at least one micromanipulator 335 for manipulating the surgical instrument 304. Preferably, the at least one micromanipulator 335 is directly connected in series to the surgical arm 334, forms a kinematic chain with the surgical arm 334 and manipulates the surgical instrument 304. According to one embodiment, at least two micromanipulators 335 are directly connected in series to the surgical arm 334, and form at least two branch kinematic chains with the surgical arm 334.

[0078] Advantageously, the field generator 307 of the tracking system is integrated with a portion of the surgical chair 309, so that when the surgeon sits on the seating surface 310 of the surgical chair 309 and holds the at least one master input tool 306, the master input tool 306 is located within the tracking volume 308 and its position and orientation can be detected by the tracking system. Moreover, in this way, the tracking volume 308 can be moved and / or repositioned together with the portion of the surgical chair 309 that is integrated therewith.

[0079] According to a preferred embodiment, the field generator 307 of the tracking system is integrated with the seating surface 310 of the surgical chair 309 .

[0080] According to a preferred embodiment, the surgical chair 309 includes at least one seat detector 328, which detects when the surgeon 332 sits on the surgical chair 309. For example, the seat detector 328 includes at least one load (load, force measurement) unit located on, within, or below the seating surface 310. Preferably, the seat detector 328 is operably connected to the control unit 305.

[0081] According to a preferred embodiment, the master input tool 306 is designed to be held by the surgeon 332 within the tracking volume 308 when the surgeon 332 is sitting on the seating surface of the surgical chair 309. Preferably, the master input tool 306 is designed to be held by the surgeon 332 within the tracking volume 308 only when the surgeon 332 is sitting on the seating surface of the surgical chair 309.

[0082] According to a preferred embodiment, the robotic surgical system 301 includes at least one main input tool support element 324, or a tool support element 324, which provides support for the main input tool 324 when the surgeon is not holding the at least one main input tool 306, and preferably places the main input tool 306 thereon.

[0083] According to a preferred embodiment, the tool support element 324 is integrated with a portion of the surgical chair 309 so that when the surgeon 332 sits on the seating surface 310 of the surgical chair 309, the surgeon 332 himself can manually place the at least one main input tool 306 onto the tool support element 324.

[0084] Since such a tool support element 324 is provided which is integrated with a part of the surgical chair 309, when the tool support element 324 supports the main input tool 306, the position and orientation of the main input tool 306 detected by the tracking system can also remain unchanged when the surgical chair 309 moves relative to the driven robot assembly 303.

[0085] Preferably, the master input tool 306 is adapted to be placed on the tool support element 324 by the surgeon 332 when the surgeon 332 is seated on the surgical chair 309. In other words, the master input tool 306 can be manually placed on the tool support element 324 by the surgeon 332 during a surgical procedure.

[0086] According to a preferred embodiment, a predefined tracking subvolume 329 is defined within the tracking volume 308. In other words, the tracking volume 308 includes at least one tracking subvolume 329. Preferably, the tracking subvolume is entirely contained within the tracking volume 308. Preferably, the field generator 307 of the tracking system generates the tracking subvolume 329. Preferably, the control unit 305 defines the extent of the tracking subvolume 329.

[0087] According to one embodiment, if the master input tool 306 is detected to be located within the tracking subvolume 329, the control unit 305 sends a command signal to actuate the slave surgical instrument 304, and if the master input tool 306 is detected to be located within the tracking volume 308 but outside the tracking subvolume 329 (for example, within the safety tracking volume portion 354), the control unit 305 then disables the paired actuation of the surgical instrument 304.

[0088] Due to the tracking subvolume 329, an operating workspace can be defined, wherein when the master input tool 306 is detected to be located within the subtracking volume 329, it transmits a command signal to the slave robot 303 through the control unit 305 in order to actuate the paired slave surgical instrument 304. At the same time, the setting of the tracking subvolume defines at least one safe tracking volume portion 354 by comparison within the tracking volume 308, wherein if the master input tool 306 is detected to be located within the safe tracking volume, the control unit 305 is prevented from sending a command signal for actuating the surgical instrument 304. Such a setting of the safe tracking volume portion 354 improves the safety of the patient during surgery, since the risk of transmission of an unwanted command that could potentially dangerously actuate the surgical instrument 304 in an uncontrolled manner is minimized.

[0089] According to an embodiment, the at least one master input tool 306 comprises at least one sensing device 311 which detects at least the position, preferably the position and orientation, of the master input tool 306 within the predefined tracking volume 308. Preferably, the sensing device 311 is integral with the master input tool 306.

[0090] According to one embodiment, the sensing device 311 is operably connected to the field generator 307. Preferably, the sensing device 311 is operably connected to the field generator 307 by electromagnetic communication. According to one embodiment, the sensing device 311 comprises at least one sensor integrated with at least a portion of the master input tool 306 and at least one wired connection to the field generator 307. According to one embodiment, the sensing device 311 comprises at least one sensor integrated with at least a portion of the master input tool 306 and at least one wireless connection to the field generator 307.

[0091] According to a preferred embodiment, the surgical chair 309 is mechanically unconstrained from the slave robot assembly 303, thereby preventing vibration movements from being transmitted from the surgical chair 309 to the slave robot assembly 303 through mechanical contact. In this way, the risk of unwanted commands being transmitted to the slave surgical robot 303, in particular to the slave surgical instrument 304, is reduced.

[0092] According to one embodiment, the sterile console 302 including the surgical chair 309 is preferably operably connected to the slave robotic assembly 303 via electromagnetic communication. According to one embodiment, the sterile console 302 including the surgical chair 309 is operably connected to the slave robotic assembly 303 via a chair wired connection 312. According to one embodiment, the sterile console 302 including the surgical chair 309 is operably connected to the slave robotic assembly 303 via a chair wireless connection 313. According to one embodiment, the chair wired connection 312 and / or the chair wireless connection 313 provide power supply to the sterile console 302.

[0093] According to an embodiment, the field generator 307 defines the second reference system X0, Y0, Z0 integral with the field generator 307, and wherein the at least one sensing device 311 detecting the first reference system X1, Y1, Z1; X2, Y2, Z2 determines the position of at least the sensing device 311 within the tracking volume 308. In this way, the sensing device 311 determines at least the position of the master tool assembly 306 integral with the sensing device 311 within the predefined tracking volume 308.

[0094] According to a preferred embodiment, a sterile console 302 is defined, wherein the sterile console 302 includes at least the at least one master input tool 306, the at least one surgical chair 309 and the at least one tool support element 324, and wherein the sterile console 302 cooperates with the slave robot assembly 303 to control the surgical instrument 304.

[0095] According to one embodiment, the sterile console 302 includes at least a pair of primary input tools 306 .

[0096] Preferably, each primary input tool 306 comprises at least one sensing device 311 preferably integral therewith, wherein at least one sensing device 311 , wherein the sensing devices 311 cooperate to at least detect the relative positions of the pair of primary input tools 306 .

[0097] According to an embodiment, the sensing device 311 comprises at least one sensor which detects the local magnetic field generated by the field generator 308 .

[0098] According to one embodiment, the sterile console 302 including the surgical chair 309 is located within the operating room 333. In this way, communication between surgical team members is enhanced. According to one embodiment, the operating room 333 is entirely contained in a single operating room.

[0099] Thus, in the robotic surgery system 301 , the surgical chair 309 is not positioned outside of the operating room 333 , such as in a remote location 358 .

[0100] According to a preferred embodiment, the robotic surgery system 301 further includes a patient support structure 336 , such as an operating table 336 or the like, forming a support member for placing a patient body 337 thereon during surgery and located within the operating site 333 .

[0101] According to a preferred embodiment, the robotic surgery system 301 further comprises a surgery vision component 338, which shows the surgery to the surgeon 332. According to one embodiment, the surgery vision component 338 comprises: at least one image acquisition device 340, which is suitable for acquiring real-time images of the ongoing surgery; and at least one image display device, such as a display 321 and / or a microscope eyepiece device 339.

[0102] According to one embodiment, the surgical visualization assembly 338 comprises at least one pair of 3D glasses cooperating with the display 321 , preferably a 3D display, for showing the surgery to the surgeon 332 placed at the sterile console 302 in the operating room 333 .

[0103] Due to the provision of such a surgical visualization assembly 338 and the sterile console 302 located within the operating room 333, the surgeon can alternate between manual surgery and robotic surgery in the same intervention.

[0104] According to an embodiment, the robotic surgical system 301 comprises at least one robotic cart 342, comprising at least one cart ground contact unit 351 and a cart handle 343, wherein the cart handle 343 is adapted to move at least a part of the robotic surgical system 301, preferably the slave robot assembly 303, within an operating space 333. Preferably, the robotic cart 342 forms a mechanical and structural support for the slave robot assembly 303, preferably a movable mechanical and structural support.

[0105] According to one embodiment, the robotic cart 342 is connected to a power supply cable 344 .

[0106] According to one embodiment, the robotic cart 342 comprises the control unit 305 .

[0107] According to one embodiment, the surgical chair 309 comprises the control unit 305. Preferably, the control unit 305 is integrated with the field generator 307.

[0108] According to one embodiment, the surgical chair 309 includes a seat base structure 314 that provides structural support to a seat lower portion 315. In this way, the seat base structure 314 provides structural support to the seating surface 310 via the seat lower portion 315. Preferably, the seat base structure 314 includes a ground contacting unit 323, such as a wheel.

[0109] According to one embodiment, the seat base structure 314 includes the field generator 307 such that the tracking volume 308 is integral with the seat base structure 314 .

[0110] According to one embodiment, the surgical chair 309 comprises a lower seat support portion 315 integral with the seating surface 310. Preferably, the lower seat support portion 315 is located below the seating surface 310.

[0111] According to one embodiment, the surgical chair 309 comprises a seat element body 346. According to one embodiment, the seat element body 346 comprises the seating surface 310. According to one embodiment, the seat element body 346 comprises a lower seat body portion 347 facing the ground 355. Preferably, the seat element body 346 is integral with the lower seat support portion 315.

[0112] According to one embodiment, the lower seat support portion 315 includes the field generator 307 such that the tracking volume 308 is integral with the seating surface 310 .

[0113] According to an embodiment, the seat lower support portion 315 is telescopically connected to the seat base structure 314. In this way, the height of the sitting surface 310 of the seat lower support portion 315 with respect to the ground is telescopically adjustable.

[0114] According to one embodiment, the surgical chair 309 includes a seat back portion 316. In this way, the surgeon can lean against the seat back portion during surgery.

[0115] According to one embodiment, the surgical chair 309 comprises: a seat adjustment device 322 providing the surgical chair 309; and preferably the lower seat support portion 315 of the surgical chair 309 having the ability to roll around a substantially vertical roll axis VV.

[0116] According to a preferred embodiment, the seat lower support part 315 can be pivoted about a vertical axis VV relative to the seat base structure 314. Preferably, the field generator 307 is integrated with the seat lower support part 315. Thus, during rolling about the substantially vertical rolling axis VV, the tracking volume 308 is integrated with the seating surface of the surgical chair 309 of the sterile console 302. In this way, it is allowed to pivot the surgical chair 309 during surgery when the surgeon is sitting on it, without losing control of the surgical instruments 306, i.e. without transmitting unwanted commands to the slave surgical instruments 306 for this reason.

[0117] According to one embodiment, the seat adjustment device 322 provides the ability to adjust the height of the seating surface 310 relative to the ground.

[0118] According to a preferred embodiment, the surgical chair 309 is movable, preferably at least within the operating area 333, at least in one direction coplanar with the seating surface 310. According to a preferred embodiment, the seating surface 310 of the surgical chair 309 can be pivoted about a vertical axis VV. According to a preferred embodiment, the height of the seating surface 310 of the surgical chair 309 can be adjusted.

[0119] According to a preferred embodiment, the seating surface 310 of the surgical chair 309 can be rotated about a vertical axis VV.

[0120] According to a preferred embodiment, the height of the seating surface 310 of the surgical chair 309 can be adjusted relative to a floor, for example a floor of the operating room 333 .

[0121] Since the field generator 307 of the tracking system is provided as being integral to the surgical chair 309, detection of the position and orientation of the primary input tool 306 can be achieved regardless of the location of the seating surface 310 within the operating room 333. In other words, since the tracking volume 308 and tracking subvolumes 329 are integral to the field generator 307 associated with the surgical chair 309, detection of the first reference frame X1, Y1, Z1; X2, Y2, Z2 is independent of the location of the surgical chair 309 within the operating room 333. This allows the surgeon 332 instructor to select - either in real time or planned - the best location for positioning the surgical chair 309 to sit on during surgery.

[0122] According to one embodiment, the surgical chair 309 comprises at least one ground contact wheel 323. The provision of the at least one ground contact wheel 323 allows to move the surgical chair 309 and thus the field generator 307 and the predetermined filling volume 308 integral therewith at least within the operating area 333. Preferably, the ground contact wheel is connected to the seat base structure 314.

[0123] According to a preferred embodiment, the surgical chair 309 includes at least one armrest assembly 317L; 317R, which includes an armrest surface 318 designed to form a resting surface for at least a portion of the surgeon's forearm.

[0124] According to a preferred embodiment, at least one of the armrest components 317L; 317R has a rounded shape, thereby allowing the surgeon to rest only his elbow, providing an increased range of motion for the surgeon's forearm. In other words, the armrest surface 318 is substantially rounded. Preferably, the armrest has a substantially cylindrical volume. Preferably, the armrest surface 318 forms a convex portion.

[0125] Preferably, the surgical chair 309 includes a pair of opposing armrest assemblies 317L, 317R, which are positioned opposite to each other relative to the seating surface 310. Thus, the surgical chair 309 includes a first armrest assembly 317L or a left armrest assembly 317L, and a second armrest assembly 317R or a right armrest assembly 317R.

[0126] According to an embodiment, at least one of the armrest assemblies 317L; 317R comprises the field generator 307 of the tracking system so that the second reference system X0, Y0, Z0 is integral with at least a portion of the at least one armrest assembly 317L; 317R.

[0127] According to one embodiment, at least one of the armrest assemblies 317L; 317R includes a display 321 that displays a portion of a user interface or touch screen. According to one embodiment, the at least one display 321 shows a portion of the driven surgical instrument 304 during surgery.

[0128] According to one embodiment, at least one of the armrest assemblies 317L; 317R includes at least one tool support element 324 for providing support for the main input tool 306, preferably a support member for the main input tool 306 to be placed thereon, wherein the tool support element 324 is integrally connected to the armrest element 320.

[0129] According to one embodiment, the armrest assembly 317L; 317R is connected to the seat lower support portion 315 by means of at least one connection structure 352, such as a tubular connection element. In this way, at least a portion of the armrest assembly 317L; 317R can be integrated with the seating surface 310.

[0130] According to one embodiment, the armrest assembly 317L; 317R comprises at least one armrest element 320 having an armrest body including the at least one armrest surface 318 .

[0131] According to an embodiment, the at least one armrest assembly 317L; 317R comprises an armrest adjustment device 319 adapted to adjust the height of at least the armrest surface 318 relative to the height of the seating surface 310 .

[0132] According to one embodiment, the armrest adjustment device 319 comprises a telescopically extendable portion 353 which is telescopically movable relative to the lower seat support portion 315. Preferably, the telescopic portion 353 is telescopically extendable relative to the connecting structure 352.

[0133] According to one embodiment, the armrest adjustment device 319 comprises a ball joint connected at least to the armrest element 320 so as to be suitable for adjusting the spatial orientation of the armrest element 320 .

[0134] Due to the armrest adjustment device 319 it is allowed to select a suitable height from the seating surface 310 of the armrest surface 318 as well as to appropriately move the tilt and / or yaw and / or roll degrees of freedom of the armrest element 320 .

[0135] According to an embodiment, each of the pair of armrest assemblies 317L; 317R comprises a field generator 307. In such a manner, two predetermined tracking volumes 308L, 308R are defined, wherein a first predefined tracking volume 308L is integral with at least a portion of the left armrest assembly 317L and a second tracking volume 308R is integral with at least a portion of the right armrest assembly 317R. According to an embodiment, the two predetermined tracking volumes 308L, 308R are connected together. Preferably, the position and orientation of the left master input tool 306L is detected within the first tracking volume 308L, and the position and orientation of the right master input tool 306R is detected within the second tracking volume 308R.

[0136] According to one embodiment, each of the armrest assemblies 317L; 317R in the pair of armrest assemblies includes the armrest adjustment device 319 so that each of the armrest assemblies 317L; 317R can be adjusted independently of the other assemblies. In this way, the surgeon 332 can adjust the height of the armrest surface 318 of the left armrest assembly 317L from the seating surface 310 independently of the right armrest assembly 317R, and vice versa.

[0137] According to one embodiment, the armrest assembly 317L; 317R includes the tool support element 324, which provides support for the master input tool 306 to rest thereon. The provision of the tool support element 324 makes the sterile console 302 suitable for safely containing the master input tool 306, which is not mechanically constrained by both the surgical chair 309 and the slave robot assembly 303, as well as the robot cart 342 and other parts of the robotic surgical system 301. In addition, the surgeon's comfort is greatly enhanced in this way, because the surgeon 332 can put the master input tool 306 down when not in use, avoiding holding the master input tool in his hand when not in use.

[0138] According to one embodiment, the tool support element 324 comprises a cup-shaped body defining a tool receiver 325. According to one embodiment, the tool support element 324 comprises a cup bottom wall 326 and at least one cup side wall 327. According to one embodiment, the tool support element 324 is integrally connected to the armrest element 320.

[0139] According to one embodiment, the tool support element 324 comprises a hook-shaped body for hanging the main input tool thereon.

[0140] According to a preferred embodiment, the surgical chair 309 includes at least one seating detector 328 that detects when a surgeon sits on the surgical chair 309 .

[0141] Preferably, the seating detector 328 cooperates with the control unit 30 to transmit a predefined command signal to the slave robot assembly 303 so as to actuate the surgical instrument 304 when the surgeon is seated on the surgical chair 309 and / or so as to avoid actuating the surgical instrument 304 when the surgeon 332 is not seated on the surgical chair 309.

[0142] According to a preferred embodiment, the surgical chair 309 further comprises at least one locking device adapted to selectively block at least one degree of freedom of movement of the surgical chair 309, the at least one locking device cooperating with the at least one seating detector 328 to block the at least one degree of freedom of movement of the surgical chair 309 when the seating detector 328 detects that the surgeon is sitting on the surgical chair 309, preferably on the seating surface 310. Preferably, the locking device provides a mechanical action to lock the at least one degree of freedom of movement of the surgical chair 309 within the operating space 333.

[0143] According to one embodiment, the locking device selectively blocks at least the freedom of movement provided by the at least one ground contacting wheel 323. In this way, when the surgeon 332 is sitting on the surgical chair 309 - i.e. during surgery - the surgical chair 309 cannot be repositioned within the operating room 333, thereby improving the safety of the entire surgical team during surgery.

[0144] According to an embodiment, the locking device selectively blocks at least the freedom of movement provided by the seat adjustment device 322. In other words, the locking device blocks the freedom of rolling around the vertical axis VV and / or the height of the seating surface 310 relative to the ground. In this way, the surgical chair 309 cannot be adjusted when the surgeon is sitting on it, i.e. during surgery.

[0145] According to an embodiment, the locking means selectively blocks at least the freedom of movement provided by the armrest adjustment means 319. This feature is particularly advantageous when provided in conjunction with an embodiment wherein each of the armrest assembly pairs 317L; 317R comprises one field generator 307.

[0146] According to one embodiment, the seating detector 328 comprises at least one load cell. In this way, the load cell senses the load of the surgeon on at least a portion of the surgical chair 309.

[0147] According to one embodiment, the seating detector 328 is associated with the seating surface 310 for detecting the load of the surgeon carried onto the seating surface 310. In other words, the seating surface 310 includes the seating detector 328.

[0148] According to one embodiment, a seating detector 328 is associated with the seat element body 346 for detecting the load of the surgeon carried onto the seat element body 346. In other words, the seat element body 346 comprises the seating detector 328.

[0149] According to one embodiment, the seat occupancy detector 328 is associated with the seat lower support portion 315 for detecting the load of the surgeon carried on the seat lower support portion 315. In other words, the seat lower support portion 315 includes the seat occupancy detector 328.

[0150] According to one embodiment, the seating detector 328 is associated with the seat back portion 316 for detecting contact with the surgeon on the seat back portion 316. In this way, the seating detector 328 detects when the surgeon's back 357 rests on the seat back portion 316.

[0151] According to one embodiment, the seating detector 328 is associated with the armrest surface 318 for detecting contact with the surgeon on the seat back portion 316. In other words, the armrest surface 318 includes the seating detector 328.

[0152] According to one embodiment, the seat occupancy detector 328 is associated with the armrest surface 318 of both armrest assembly pairs 317L, 317R. In other words, the armrest surface of each armrest assembly 317L; 317R of the armrest assembly pair 317L, 317R includes the seat occupancy detector 328.

[0153] According to one embodiment, the seat occupancy detector 328 includes a plurality of seat occupancy detector sensing elements, such as load cells.

[0154] According to one embodiment, the field generator 307 is detachably connected to the surgical chair 309, in such a way that the surgical chair can be sterilized without the field generator 307. This allows the use of the surgical chair in a sterile environment, such as an operating room.

[0155] According to one embodiment, the sterile control console 302 includes a clutch device 345 that, when in an activated condition, prevents the slave robotic assembly 303 from receiving any command signals including manual commands detected by the sterile control console 302. In this manner, the clutch device 345 prevents unintended motion from being transmitted to the slave surgical instrument 304.

[0156] According to one embodiment, the clutch device 345 is operatively connected to the surgical chair 309 , preferably to the field generator 307 , via a wired or wireless connection.

[0157] According to one embodiment, the master input tool 306 is mechanically unconstrained from the surgical chair 309 and the slave robotic assembly 303 in such a way that the master input tool 306 can be naturally moved, turned and rotated by the surgeon, preferably multiple times within the predefined tracking volume 308.

[0158] According to an embodiment, the master input tool 306 is operatively connected to the field generator 307 by means of a tool wired connection 330 .

[0159] According to an embodiment, the master input tool 306 is operatively connected to the field generator 307 by means of a tool wireless connection 331 .

[0160] According to one embodiment, the surgical chair 309 is operably connected to the slave robotic assembly 303 via a chair wired connection 312 .

[0161] According to one embodiment, the surgical chair 309 is operably connected to the slave robotic assembly 303 via a chair wireless connection 313 .

[0162] According to one embodiment, the control unit 305 is entirely located inside the seat body 314 .

[0163] According to one embodiment, the control unit is entirely located within the lower seat support portion 315 .

[0164] The robotic surgical system 301 associated with the sterile control console 302 includes at least one slave robotic assembly 303 including at least one surgical instrument 304 designed to operate on a patient's body, and a control unit 305 .

[0165] The sterile console 303 for the robotic surgery system 301 includes:

[0166] - at least one primary input tool 306, mechanically ungrounded and suitable for being held by the surgeon during surgery;

[0167] - at least one surgical chair 309 comprising at least one seating surface 310 for a surgeon 332 to sit on during surgery;

[0168] at least one tracking system adapted to detect the position and orientation of said at least one master input tool 306 within a predefined tracking volume 308;

[0169] - At least one tool support element 324, which provides support for the at least one master input tool 306 to rest thereon when the surgeon is not holding the at least one master input tool 306.

[0170] According to a preferred embodiment, the at least one master input tool 306 defines at least one first reference system X1, Y1, Z1; X2, Y2, Z2 attached thereto;

[0171] According to a preferred embodiment, the tracking system comprises a field generator 307 defining a second reference system X0, Y0, Z0 attached thereto.

[0172] According to a preferred embodiment, the tracking volume 308 is integrated with the field generator 307 of the tracking system.

[0173] Advantageously, the position and orientation detected by the tracking system are the position and orientation of at least one first reference system X1, Y1, Z1; X2, Y2, Z2 relative to the second reference system X0, Y0, Z0, so that the control unit 305 of the robotic surgical system 301 is suitable for receiving information about the position and orientation of the at least one master input tool 306 within the tracking volume 308, and is suitable for transmitting command signals to the slave robotic component 303 so as to actuate the at least one surgical instrument 304.

[0174] Advantageously, the field generator 307 of the tracking system is integrated with a portion of the surgical chair 309 so that when the surgeon sits on the seating surface 310 of the surgical chair 309 and holds the at least one master input tool 306, the master input tool 306 is located within the tracking volume 308 and its position and orientation can be detected by the tracking system.

[0175] According to a preferred embodiment, the tool support element 324 is integrated with a portion of the surgical chair 309 so that when the surgeon sits on the seating surface 310 of the surgical chair 309, the surgeon himself can manually place the at least one main input tool 306 onto the tool support element 324.

[0176] According to a preferred embodiment, when the tool support element 324 supports the master input tool 306, if the surgical chair 309 moves relative to the slave robot assembly 303, the position and orientation of the master input tool 306 detected by the tracking system can also remain unchanged.

[0177] According to one embodiment, the surgical chair 309 includes the control unit 305 .

[0178] According to a preferred embodiment, the sterile console 302 is defined according to any one of the above embodiments.

[0179] According to a general embodiment, an operating room 333 is provided that includes a sterile console 302 according to any of the embodiments described above.

[0180] The operating room 333 also includes at least one slave robotic assembly 303, which includes at least one surgical instrument 304 designed to operate on a patient's body 337, and preferably also includes a patient support structure 336, which forms a support for resting the patient's body 337 during surgery and when located in the operating room 333. Preferably, the patient support structure 336 includes an operating table or the like.

[0181] According to one embodiment, the operating room 333 includes the robotic surgery system 301 according to any one of the above embodiments.

[0182] According to one embodiment, the operation site 333 includes a surgical visualization component 338, which shows the operation to the surgeon 332. Preferably, the surgical visualization component 338 includes at least one image acquisition device 340, which is suitable for acquiring real-time images of the ongoing operation, and at least one image display device, such as a display 321 and / or a microscope eyepiece device 339.

[0183] According to a preferred embodiment, the operating site 333 includes a sterile volume, and the sterile console 302 is located in the sterile volume of the operating site 333 and is protected by being covered with a sterile drape 361 .

[0184] The following is a description of the method of performing the surgery.

[0185] According to a general embodiment, a method of performing surgery includes the following steps:

[0186] - Sitting on the surgical chair 309;

[0187] - holding the main input tool 306;

[0188] - Bringing the master input tool into a predefined tracking volume 308;

[0189] - sending said command to the control unit 305 to activate the slave robot 303;

[0190] According to a preferred operating mode, the method comprises the further step of controlling the movement of the slave robot 303 by manipulating the master input tool 306 .

[0191] According to a preferred embodiment, the method comprises the following further step, which provides a robotic surgery system 301 according to any one of the previously described embodiments.

[0192] According to a preferred operating mode, the method comprises the following additional step of activating the seating detector 328. Preferably, this activation step is performed before the step of sending the command to the control unit 305 to activate the slave robot 303.

[0193] According to a preferred mode of operation, the step of seating is preferably performed by sitting on the seating surface 310 of the surgical chair 309 .

[0194] According to a preferred mode of operation, the hand-held step includes a sub-step of holding the primary input tool 306 from the tool support element 324 in the hand.

[0195] According to a preferred mode of operation, the step of bringing in is performed by moving the main input tool 306 from the tool support element 324 , preferably located within the safe tracking volume portion 354 , to the sub-tracking volume 329 .

[0196] According to a preferred operating mode, the step of sending a command is preferably performed by sending a user command to the control unit 305 to activate the slave robot 303. According to one operating mode, the user command is a foot pedal command. According to one operating mode, the user command is a manual command provided to the master input tool 306.

[0197] According to a preferred mode of operation, the step of controlling is performed by moving the slave robot 303 in response to the movement of the master input tool 306. Preferably, this step includes the additional step of moving the surgical instrument 304 of the slave robot 303 in response to the movement of the master input tool 306. In other words, the movement of at least one surgical instrument 304 of the slave robot 303 is controlled by manipulating the master input tool 306. According to a preferred mode of operation, each master input tool 306 controls a single surgical instrument 304 of the slave robot 303. In other words, according to a preferred mode of operation, a single surgical instrument 304 is paired with one master input tool 306 along a master-slave pair.

[0198] According to an operating mode, the method comprises the further step of deactivating the slave robot 303. In other words, according to an operating mode, the method comprises the further step of decoupling the slave robot 303 from the master input tool 306. Preferably, said step is implemented by the control unit 305, either by sending a command signal to the slave robot 303 for the purpose of locking the movement of at least the surgical instrument 304 or by interrupting the communication towards the surgical instrument 304.

[0199] According to a preferred operating mode, the step of decoupling the slave robot 303 from the master input means 306 is performed by sending a foot pedal command. For example, the foot pedal command is transmitted by means of a deadman's foot operating clutch device 345 or the like.

[0200] According to a preferred operation mode, when the seating detector 328 detects that the surgeon has detached from the seating surface 310 of the surgical chair 309 in order to stand up, the step of decoupling the slave robot 303 from the master input tool 306 is automatically implemented. Preferably, the seating detector 328 transmits a command signal to the control unit 305 for the purpose of decoupling the slave robot 303 from the master input tool 306.

[0201] According to a preferred operation mode, when the master input tool 306 is detected to be located within the safe tracking volume portion 354, the step of decoupling the slave robot 303 from the master input tool 306 is automatically implemented by the robotic surgery system 301. In other words, when the master input tool 306 is detected to be located outside the tracking subvolume 329, the step of decoupling the slave robot 303 from the master input tool 306 is automatically implemented by the robotic surgery system 301.

[0202] According to a preferred mode of operation, the method further comprises the step of pivoting about a substantially vertical roll axis (VV) when sitting on a seating surface (310) of a surgical chair (309), thereby pivoting a predefined tracking volume (308) about the same substantially vertical roll axis (VV). In this way, no unwanted commands are transmitted to the slave robot during pivoting.

[0203] According to one mode of operation, surgeon 332 performs the method.

[0204] By virtue of the above features, provided individually or in combination in specific embodiments where applicable, the above disclosed sometimes contrasting needs can be met and the above advantages can be achieved, and in particular:

[0205] - Provides a robotic surgery system, and a sterile console, and operating room, which increase the comfort of the surgeon during robotic surgery without thereby reducing the accuracy of the detection of input commands;

[0206] -When performing robotic surgery and robotic microsurgery, the surgeon can sit close to the patient's body and move around at the same time;

[0207] - The surgeon's comfort during surgery is enhanced, so the risk of losing concentration is minimized even during prolonged operations on the patient's body.

[0208] - The surgeon can place the master input tool in a safe and sterile place, thereby reducing the risk of transmitting unwanted commands to the slave surgical instruments even during pivoting of the chair about the vertical axis;

[0209] - If necessary, the surgeon can see the patient's body with naked eyes during surgery.

[0210] A person skilled in the art may make numerous changes and adaptations 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.

[0211] Reference numerals list

[0212] 301 Robotic Surgery System

[0213] 302 Sterile Console

[0214] 303 Slave robot assembly, or slave robot

[0215] 304 Operated surgical instruments or surgical instruments

[0216] 305 Control Unit

[0217] 306 Main Input Tool

[0218] 306L Left Main Input Tool

[0219] 306R Right Main Input Tool

[0220] 307 Field Generator

[0221] 308 Tracking Volume

[0222] 308L First Tracking Volume

[0223] 308R Second Tracking Volume

[0224] 309 Surgical Chair

[0225] 310 Seating surface of surgical chair

[0226] 311 Sensing device of main input tool

[0227] 312 Seat Wired Connection

[0228] 313 Seat Wireless Connection

[0229] 314 Seat base structure

[0230] 315 Seat lower support part

[0231] 316 seat back

[0232] 317L; R) Armrest assembly (left; right)

[0233] 318 Handrail surface

[0234] 319 Armrest adjustment device

[0235] 320 Handrail elements

[0236] 321 Display

[0237] 322 Seat adjustment device

[0238] 323 Ground contact wheel

[0239] 324 Tool support element or tool holding element

[0240] 325 Tool Container

[0241] 326 cup bottom wall

[0242] 327 cup side wall

[0243] 328 Seat Detector

[0244] 329 Tracking Subvolume

[0245] 330 Main Wired Connection

[0246] 331 Main wireless connection

[0247] 332 Surgeon

[0248] 333 Operation Place

[0249] 334 Surgical Arm

[0250] 335 Micromanipulator

[0251] 336 Operation table

[0252] 337 Patient Body

[0253] 338 Visual Components

[0254] 339 Microscope Eyepiece Device

[0255] 340 Image acquisition device

[0256] 342 Robot Cart

[0257] 343 Cart handle

[0258] 344 Power Supply Cable

[0259] 345 Clutch device

[0260] 346 Seat element body

[0261] 347 Lower seat body

[0262] 348 Manual command or user command

[0263] 349 First Command Signal

[0264] 350 Second command signal

[0265] 351 Cart Ground Contact Unit

[0266] 352 Connecting elements

[0267] 353 Telescopically extendable portion

[0268] 354 Safety Tracking Volume

[0269] 355 ground or land

[0270] 356 Surgeon's Hands

[0271] 357 Surgeon's Back

[0272] 358 Remote Positioning

[0273] 359 Remote Screen

[0274] 360 Remote Glasses

[0275] 361 Sterile Drape for Sterile Console

[0276] 362 wall or barrier

[0277] VV vertical axis.

Claims

1. A sterile control console (302) for a robotic surgery system (301), the sterile control console being adapted to detect manual commands, comprising: - at least one primary input tool (306), at least one of said primary input tools being mechanically ungrounded and adapted to be held by a surgeon during surgery; - at least one surgical chair (309), at least one of the surgical chairs comprising at least one seating surface (310) for the surgeon to sit thereon during surgery; - at least one tracking system, at least one of said tracking systems being adapted to detect the position and orientation of at least one of said master input tools (306) within a predefined tracking volume (308); - at least one tool support element (324), at least one of the tool support elements providing support for at least one of the primary input tools (306) when the surgeon is not holding the at least one primary input tool (306) so as to place the primary input tool on the at least one tool support element; in: - at least one of said master input means (306) defines at least one first reference system (X1, Y1, Z1; X2, Y2, Z2) attached thereto; - the tracking system comprises a field generator (307) defining a second reference system (X0, Y0, Z0) attached thereto; - the tracking volume (308) is integral with the field generator (307) of the tracking system; and among them: - the position and orientation detected by the tracking system are the position and orientation of the at least one first reference system (X1, Y1, Z1; X2, Y2, Z2) relative to the second reference system (X0, Y0, Z0), so that the control unit (305) of the robotic surgery system (301) is suitable for receiving information about the position and orientation of at least one master input tool (306) within the tracking volume (308) and for transmitting a command signal to a slave robotic assembly (303) in order to actuate at least one surgical instrument (304) of the slave robotic assembly (303); - the field generator (307) of the tracking system is integrated with a portion of the surgical chair (309) so that when the surgeon sits on the seating surface (310) of the surgical chair (309) and holds at least one of the master input tools (306), the master input tool (306) is located within the tracking volume (308) and the position and orientation of the master input tool can be detected by the tracking system; and wherein the seating surface (310) of the surgical chair (309) is movable relative to the ground along at least one degree of freedom, wherein - the seating surface (310) of the surgical chair is pivotable about a vertical roll axis (VV), - the seating surface (310) of the surgical chair is adjustable in height, - the surgical chair comprises at least one ground contact wheel (323) so that the surgical chair can be moved at least within the operating room; And wherein the field generator (307) is integrated with the seating surface (310) of the surgical chair (309), and wherein the surgical chair includes at least one armrest assembly (317L, 317R) having an armrest surface, the armrest surface being designed to form a resting surface for at least a portion of the surgeon's forearm, the armrest assembly being integrated with the seating surface so that any of the above-mentioned defined movements of the seating surface (310) is transmitted to the field generator (307), thereby avoiding any of the above-mentioned defined movements of the seating surface (310) along the at least one degree of freedom from causing relative movement between the at least one first reference system (X1, Y1, Z1; X2, Y2, Z2) attached to at least one of the main input tools and the second reference system (X0, Y0, Z0) of the field generator attached to the tracking system.

2. The sterile control console (302) according to claim 1, wherein: The surgical chair (309) includes a lower seat support portion (315) integral with the seating surface (310) and a seat base structure (314) providing structural support for the lower seat support portion (315); and The lower seat support portion (315) is pivotable relative to the seat base structure (314) about the vertical roll axis (VV); and The field generator (307) is integral with the lower seat support portion (315) so that the seating surface (310) of the surgical chair (309) of the sterile console (302) is integral with the tracking volume (308) during rolling about the vertical roll axis (VV).

3. The sterile console (302) according to claim 1 or 2, comprising a sterile cover cloth (361) covering the seating surface (310) of the surgical chair (309).

4. The sterile control console (302) according to claim 2, wherein: The surgical chair (309) includes a seat adjustment device (322), which provides the surgical chair (309) with the ability to roll around the vertical rolling axis (VV).

5. The sterile control console (302) according to claim 4, wherein: The seat adjustment device provides the lower seat support portion (315) of the surgical chair (309) with the ability to roll around the vertical roll axis (VV).

6. The sterile control console (302) according to claim 2, wherein: The seat base structure (314) includes the at least one ground contacting wheel (323).

7. The sterile console (302) according to claim 1 includes a locking device (329) suitable for selectively blocking at least one degree of freedom of movement provided by at least one ground contact wheel (323) of the surgical chair (309).

8. The sterile control console (302) according to claim 1 or 2, wherein: The surgical chair (309) is movable within the operating area (333) in at least one direction that is substantially coplanar with the seating surface (310) and / or in a direction in a horizontal plane or a near-horizontal plane.

9. The sterile control console (302) according to claim 1 or 2, wherein: - at least one of the primary input tools (306) is operably connected to the surgical chair (309) by means of a tool wired connection (330); and / or wherein - The master input tool (306) has the shape and size of a manual microsurgical instrument.

10. The sterile control console (302) according to claim 1 or 2, wherein: The primary input tool (306) has the shape and size of a needle holder or forceps.

11. The sterile control console (302) according to claim 1 or 2, wherein: - the tool support element (324) is integral with a portion of the surgical chair (309) so that when the surgeon is seated on the seating surface (310) of the surgical chair (309), the surgeon himself is able to manually place at least one of the primary input tools (306) onto the tool support element (324); and / or wherein -When the tool support element (324) supports the master input tool (306), the position and orientation of the master input tool (306) detected by the tracking system can also remain unchanged when the surgical chair (309) moves relative to the slave robot assembly (303).

12. The sterile control console (302) according to claim 1 or 2, wherein: The surgical chair (309) includes at least one seating detector (328) that detects when a surgeon sits on the surgical chair (309).

13. The sterile control console (302) of claim 12, wherein: - the seating detector (328) cooperates with the control unit (305) for transmitting a predefined command signal to the slave robot assembly (303) in order to actuate the surgical instrument (304) when the surgeon is seated on the surgical chair (309), and / or in order to avoid actuating the surgical instrument (304) when the surgeon is not seated on the surgical chair (309); and / or among them - the surgical chair (309) comprises at least one locking device, at least one of the locking devices is suitable for selectively blocking at least one degree of freedom of movement of the surgical chair (309), at least one of the locking devices (329) cooperates with at least one of the seating detectors (328) to block the at least one degree of freedom of movement of the surgical chair (309) when the seating detector (328) detects that the surgeon is sitting on the surgical chair (309); and / or wherein - the surgical chair (309) comprises a pair of opposing armrest assemblies (317L, 317R) positioned opposite each other relative to the seating surface (310); in: - at least one of the armrest assemblies (317L; 317R) comprises a display (321) showing a portion of a user interface or a touch screen; and / or wherein - at least one of the armrest assemblies (317L; 317R) has a circular shape; and / or wherein - at least one of the armrest assemblies (317L; 317R) comprises at least one tool support element (324) for providing support for the primary input tool (306) so as to place the primary input tool thereon, wherein the tool support element is integrally connected to the armrest element (320) of the armrest assembly; and / or wherein - the tool support element (324) comprises a cup-shaped body defining a tool receiver (325); or the tool support element (324) comprises a hook-shaped body defined to suspend the primary input tool thereon.

14. The sterile control console (302) according to claim 1 or 2, wherein: - the surgical chair (309) comprises a pair of opposing armrest assemblies (317L, 317R) positioned opposite each other relative to the seating surface (310), - the sterile control console (302) comprises a locking device (329) which selectively blocks at least one degree of freedom of movement provided by the armrest adjustment device (319) of the armrest assembly; and / or wherein - the tool support element (324) is integral with a portion of the surgical chair (309) so that when the surgeon is seated on the seating surface (310) of the surgical chair (309), the surgeon himself is able to manually place at least one of the primary input tools (306) onto the tool support element (324); and / or wherein - when the tool support element (324) supports the master input tool (306), the position and orientation of the master input tool (306) detected by the tracking system can also remain unchanged when the surgical chair (309) moves relative to the driven robot assembly (303); and / or wherein - the surgical chair (309) comprises the control unit (305); and / or wherein - The sterile control console (302) comprises at least one pair of primary input means (306).

15. The sterile control console (302) according to claim 1 or 2, wherein: When the tool support element (324) supports the master input tool (306), the position and orientation of the master input tool (306) detected by the tracking system can also remain unchanged when the surgical chair (309) rotates relative to the slave robot assembly (303).

16. A robotic surgery system (301), comprising: - A sterile control console (302) according to any one of claims 1 to 15; - at least one slave robotic assembly (303), at least one of the slave robotic assemblies comprising at least one surgical instrument (304) designed to operate on a patient's body (337); - A control unit (305) adapted to receive information about the position and orientation of at least one of the master input tools (306) within the tracking volume (308) and to transmit command signals to the slave robotic assembly (303) in order to actuate at least one of the surgical instruments (304).

17. The robotic surgery system (301) according to claim 16, wherein: - the surgical chair (309) comprises the control unit (305); and / or wherein - the surgical chair (309) is operably connected to the slave robotic assembly (303) by means of a chair wired connection (312); or wherein - The surgical chair (309) is operably connected to the slave robotic assembly (303) by means of a chair wireless connection (313).

18. The robotic surgery system (301) according to claim 16 or 17, wherein: The robotic surgical system (301) also includes a patient support structure (336) forming a support for resting a patient's body (337) thereon during surgery and positioned within the operating room (333).

19. The robotic surgery system (301) according to claim 16 or 17, further comprising a surgery visualization component (338) for showing the surgery to the surgeon (332).

20. The robotic surgery system (301) according to claim 19, wherein: The surgical visualization component (338) includes: at least one image acquisition device (340), at least one of the image acquisition devices is suitable for acquiring real-time images of the ongoing surgery; and at least one image display device.

21. The robotic surgery system (301) according to claim 20, wherein: The image acquisition device (340) is a microscope acquisition device.

22. The robotic surgery system (301) according to claim 20, wherein: The image display device is a display (321) and / or a microscope eyepiece device (339).

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