Sensory Perception Surgical System for Robot-Assisted Laparoscopic Surgery

Abstract

The present invention proposes a sensory perception system for robot-assisted laparoscopic surgery. The present invention includes an electrosurgical forceps coupled to a surgical tool, an electrosurgical radio frequency signal generator, and an impedance measurement circuit. The impedance measurement circuit includes a measurement sensor for measuring a signal corresponding in magnitude to a value indicative of the contact impedance between the forceps and the patient's tissue; an oscillator; a first electronic circuit having a resistor and a voltage limiter for protecting the measurement sensor and the oscillator; and a second electronic circuit having a switch. The sensor and the oscillator are connected to the forceps through a power cable of the surgical tool. A processor connected to the measurement circuit receives the measurement signal and converts the measurement signal into a force vector, the modulus of which is a function of the measured contact impedance and the argument of which is a function of the trajectory being followed.

Description

Technical Field

[0001] The present invention generally relates to the field of robot-assisted surgery. In particular, the present invention relates to a sensory perception surgical system for robot-assisted laparoscopic surgery, which allows the detection of the properties of a patient's tissue, in particular the contact force applied to the tissue, by measuring the electrical impedance. Background Art

[0002] Current robot-assisted laparoscopic surgery techniques allow for highly precise interventions, offering relevant advantages, especially in surgeries of a certain complexity, such as those in which it is difficult to access the surgical site. However, a drawback of current robot-assisted laparoscopic surgery techniques is that the doctor cannot sense the force applied to the patient's anatomical components.

[0003] Robotic arms are used in robot-assisted laparoscopic surgery to actuate specific tools to effectively perform the intervention, and to introduce and guide a camera to allow observation of the surgical area. These robotic arms are remotely controlled by the doctor via a control panel, which is provided with a screen that allows the doctor to monitor the scene. Similarly, in addition to increasing the surgical precision, the use of a computer associated with the control of the robotic arms also allows the introduction of controls that provide greater safety to the patient.

[0004] In recent years, a great deal of effort has been made in the research field to enable the provision of sensory feedback to the doctor in order to compensate for the loss of the sense of touch when the intervention is manual.

[0005] Patent application US 2011046659-A1 describes a minimally invasive surgical tool that includes a sensor that generates a signal in response to an interaction with the surgical tool. The tool also includes a haptic feedback system that generates vibrations in response to the signal to obtain a haptic effect.

[0006] On the other hand, patent US8613230-B2 discloses a system that allows the measurement of the force transmitted from a sensor mounted outside the cannula of a surgical tool and receives the force along the penetration axis Z through a mechanical transmission sheath. The system described in this patent only allows the perception of the force applied along the penetration axis Z, rather than the force resulting from lateral contact.

[0007] As shown in patent EP2595587-B1, in order to be able to sense not only the force applied in the direction of the penetration axis Z, elastic elements have been used, which allow the measurement of three-dimensional deformations by means of interferometry using optical sensors. In this case, 3 or 4 optical fibers are used, which allow the projection of modulated light onto reflectors located on an elastic support and the obtaining of the force vector applied to the forceps from the outside of the cannula by interferometry.

[0008] Patent CA 2870343 proposes an alternative to using elastic elements integrated on the cannula. For this purpose, a sensor with six degrees of freedom is used, which allows the forces and torques generated between the outer distal end of the tool and the tool end held by the robotic arm supporting the tool to be provided. The system includes a computer system that allows the force applied at the distal end to be calculated by matrix calculus based on the kinematics of the tool-cannula needle assembly and the six data provided by the sensor.

[0009] WO2016153561 discloses a medical device that includes an elongate body having a proximal end and a distal end, and a pair of electrodes or electrode portions (e.g., a discrete tip electrode assembly). The system is configured to perform contact sensing and / or ablation confirmation based on electrical measurements obtained when electrical energy at different frequencies is applied to the pair of electrodes or electrode portions. The contact sensing system and method can calibrate network parameter measurements to compensate for hardware units in the network parameter measurement circuit, or resolve differences in the cables, instruments, or hardware used.

[0010] US10595745-B2 discloses devices and methods for measuring contact forces on a catheter. The catheter includes a proximal segment, a distal segment, and an elastic segment extending from the proximal segment to the distal segment. The distal segment includes a plurality of tip electrodes that include at least three radial electrodes disposed around the circumference of the distal segment. The radial electrodes are configured to output an electrical signal indicative of a contact vector of the contact force. The elastic segment includes force sensing means configured to output an electrical signal indicative of the magnitude of the axial component of the contact force, wherein the contact force is determined by scaling the magnitude of the axial component of the contact force with the contact vector. In this document, the measurement of the contact force is performed mechanically, rather than electrically as in the present invention.

[0011] US2003100892 - A1 discloses a robotic surgical tool that includes an elongate shaft having a working end and an axis, and a pair of connecting arms, each connecting arm having a proximal end and a distal end. The proximal end is pivotally mounted on the working end of the shaft to rotate about a first pitch axis, thereby producing a first pitch rotation. The wrist member has a proximal portion that is pivotally connected to the distal end of the connecting arm to rotate about a second pitch axis, thereby producing a second pitch rotation. The end effector is pivotally mounted on the distal portion of the wrist member to rotate about the wrist axis of the wrist member, thereby producing a distal roll rotation. The wrist axis extends between the proximal portion and the distal portion of the wrist member. The elongate shaft is rotatable about the axis of the shaft to produce a proximal roll rotation. At a pitch of approximately 90°, the wrist axis is generally perpendicular to the axis of the shaft. The proximal roll about the axis of the shaft and the distal roll about the wrist axis do not overlap. The use of the connecting arms allows the end effector to bend backward beyond a 90° pitch. The ability to operate the end effector at a pitch of approximately 90° and to bend the end effector backward makes the wrist mechanism more versatile and suitable for accessing difficult - to - reach locations, particularly those with small access points, such as those involving spinal, nerve, or rectal surgical sites.

[0012] In another workflow, known as vision - based force sensing (VBFS), the actual images captured by a laparoscopic camera are used to observe tissue deformation caused by contact with the forceps.

[0013] In any case, due to technical limitations, inaccuracies of different development systems, or the difficulties they pose, particularly the space occupied by sensing on the cannula of the tool, sensory feedback is not actually used in robotic - assisted laparoscopic surgery.

[0014] Therefore, a new surgical system for robotic - assisted laparoscopic surgery allows for the detection of the properties of tissue / tissues and the quantification of the contact force applied to the tissue / tissues during a remotely - performed surgical intervention with sensory feedback. Summary of the Invention

[0015] To this end, an embodiment of the present invention provides a sensory perception surgical system for robot-assisted laparoscopic surgery, comprising: an electrosurgical forceps coupled to a surgical tool, an impedance measurement circuit, and an electrosurgical radio frequency signal generator, the electrosurgical radio frequency signal generator being electrically coupled to the impedance measurement circuit and operable to supply electrical energy as monopolar and bipolar electrical energy to the electrosurgical forceps. The impedance measurement circuit includes a measurement sensor for measuring a signal corresponding to a magnitude of a value indicating a contact impedance between the electrosurgical forceps and the patient's tissue; an oscillator for providing a power signal to the measurement sensor; a first electronic circuit and a second electronic circuit. The first electronic circuit includes one or more resistors and voltage limiters to protect the measurement sensor and the oscillator, and the measurement sensor and the oscillator are connected to the electrosurgical forceps through a power cable of the surgical tool. The second electronic circuit includes a first switch circuit and a second switch circuit, the first switch circuit being for rectifying and commuting between connection and disconnection of the power cable of the electrosurgical radio frequency signal generator and the cable of the surgical tool, and the second switch circuit being for rectifying and commuting between connection and disconnection of the electrosurgical radio frequency signal generator and the measurement sensor.

[0016] Similarly, the proposed system includes at least one processor operatively connected to the electrosurgical radio frequency signal generator and the impedance measurement circuit to receive the signal measured by the measurement sensor and convert the signal into a force vector. In particular, the modulus of the force vector is a function of the measured contact impedance, and the independent variable is defined by the trajectory followed by the surgical tool at the moment of contact.

[0017] Therefore, based on the magnitude of the measured contact impedance and based on the monitoring of the followed trajectory, the mentioned processor allows to obtain a vector reaction force on the operator control device, the magnitude and direction of which vary according to the applied force.

[0018] In one embodiment, the proposed system further includes a radio frequency detector having at least one capacitive or inductive sensor disposed on the mentioned power cable for automatically rectifying and commuting the first switch circuit and the second switch circuit while supplying electrical energy.

[0019] In one embodiment, the electrical energy supplied by the electrosurgical radio frequency signal generator is monopolar. In this case, the first switch circuit consists of one relay and the second switch circuit consists of another relay. Alternatively, when the supplied electrical energy is bipolar, the first switch circuit consists of at least two relays and the second switch circuit also consists of at least two relays.

[0020] The system may also include a control unit that includes a control element operatively connected to the impedance measurement circuit and / or the electrosurgical radiofrequency signal generator for controlling the impedance measurement circuit and / or the electrosurgical radiofrequency signal generator. For example, the control element may include a pedal and / or an actuator / button.

[0021] A processor may be included in the control unit or in a remote computing device and is operatively connected to the control unit, the electrosurgical radiofrequency signal generator, and / or the impedance measurement circuit via a cable or a wireless connection.

[0022] In one embodiment, the electrosurgical forceps are coupled to the surgical tool using a pulley block and a cable, which allows for opening or closing of the forceps and mobility. At least one pulley is provided on the hinge axis of the pulley. Similarly, the pulley block is provided on three parallel axes that are disposed at diametric positions with respect to the body of the surgical tool and the electrosurgical forceps.

[0023] Other embodiments of the invention disclosed herein also include computer-implemented methods and / or computer program products for performing the steps and operations performed by the mentioned processor. More specifically, the computer program product is an embodiment having a computer system-readable medium that includes code instructions encoded therein, which, when executed in at least one processor of the computer system, cause the processor to perform the operations indicated herein as embodiments of the invention.

[0024] In one embodiment, the anatomical structure surrounding the tissue / plural tissues is modeled based on the force vector estimated by the processor. To this end, the surface is progressively modeled by defining a polygonal surface, for example, a triangle formed by connecting adjacent contact points obtained during the operation / intervention.

[0025] Thus, the present invention allows for determining the force vector based on the measurement result of the magnitude of the contact impedance between the forceps and the patient tissue and the trajectory taken, and also allows for constructing a three-dimensional model of the surgical environment.

[0026] One advantage provided by the present invention is that it does not introduce any additional sensors on the electrosurgical forceps, which allows for the use of, for example, the same conductors used for performing electrocautery or electrocoagulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The foregoing and other features and advantages will be better understood based on the following detailed description of several illustrative and non-limiting embodiments with reference to the accompanying drawings, in which:

[0028] Figure 1 A surgical system for robot-assisted laparoscopic surgery for detecting tissue properties according to an embodiment of the present invention is shown.

[0029] Figures 2A - 2C Schematically shows different connection configurations of an electrosurgical radiofrequency signal generator operating in monopolar mode ( Figure 2A ) or bipolar mode ( Figure 2B and Figure 2C ).

[0030] Figure 3 Shows in more detail the architecture of a system proposed according to an embodiment of the present invention for obtaining contact impedance and related force vectors.

[0031] Figure 4 Shows another embodiment of the architecture of a system for obtaining contact impedance and related force vectors.

[0032] Figure 5A and Figure 5B Show different views of an electrosurgical forceps coupled to a surgical tool. Figure 5A Shows a perspective view of the distal end of a surgical tool, showing the articulated rotations G1 and G2 and the axial rotation G3 of the surgical tool assembly. Figure 5B Shows the arrangement of pulleys for transmitting movements G1 and G2 and an actuator cable, which also allows the electrosurgical forceps to be opened or closed by rotation G1.

[0033] Figures 6A - 6D Shows different views showing the path of a cable that transmits electrical energy to the electrosurgical forceps for detecting contact with tissue, wherein the path must be compatible with the limited available space between different pulleys and also allows rotations G1, G2, and G3 to be performed.

[0034] According to an embodiment of the present invention, Figures 7A - 7C Graphically describes the calculated force vectors and the construction of triangles for the anatomical structures of a simulation environment. Detailed Description

[0035] The present invention provides a sensory perception surgical system for robot-assisted laparoscopic surgery, and a method that allows, during a remotely performed surgical intervention, based on the estimation of the force vectors applied by detecting the contact impedance with the patient's tissue / tissues and the obtained trajectory, to obtain sensory feedback of the forces applied by a doctor on the patient's tissue / tissues.

[0036] Referring to Figure 1 , the figure shows an embodiment of the proposed system 1, in which the system 1 includes a robot-assisted system 100; a control unit 110; a laparoscopic tower 120 that houses an electrosurgical radiofrequency signal generator 300 and an impedance measurement circuit 301.

[0037] The robotic assistance system 100 is provided with a robotic arm 101 that allows for the movement of a surgical tool 102, and a laparoscopic camera 103. The control unit 110 includes actuators / buttons 111 and a pedal 113, by means of which a doctor can manipulate / control the robotic assistance system 100, an electrocautery radio frequency signal generator 300, and an impedance measurement circuit 301. The control unit 110 also has a display screen 112.

[0038] The electrocautery radio frequency signal generator 300 can be any standard electrocautery signal generator, which is electrically connected to the impedance measurement circuit 301 via a power cable 314 and is operable to supply electrical energy to an electrosurgical forceps 104 coupled to the surgical tool 102 (e.g., see Figures 2A - 2C ). The impedance measurement circuit 301 is electrically connected to the electrosurgical forceps 104 via another power cable 304. The power cable 304 consists of two conductor cables 304a, 304b (see Figure 6D ), and the path of the power cable 304 is kinematically compatible with the movement of the electrosurgical forceps 102, allowing the power cable 304 to move in three rotations / axes (orientation and elevation movements, as well as opening and / or closing movements) so as to enable the detection of contact with tissue / plural tissues.

[0039] When the feedback circuit is the patient himself / herself or the saline medium used ( Figure 2A ), the electrocautery radio frequency signal generator 300 can be monopolar, or if current flows between the terminal elements 250 of the electrosurgical forceps 104 (see Figures 5A - 5B ), the electrocautery radio frequency signal generator 300 can be bipolar ( Figure 2B and Figure 2C ).

[0040] Figure 2A The monopolar configuration is shown. The impedance measurement circuit 301 only houses one cable, i.e., the output power cable. The input cable marked with an arrow passes outside the impedance measurement circuit 301. Figure 2B The first bipolar configuration is shown. The double input and output cables with two polarities (marked with arrows) leave the electrocautery radio frequency signal generator 300 and pass through the impedance measurement circuit 301, where the feedback returns through a conductive sleeve. Figure 2C The second bipolar configuration is shown. A cable with two wires leaves the electrocautery radio frequency signal generator 300, passes through the impedance measurement circuit 301, and travels inside the impedance measurement circuit 301, with one cable reaching each part of the electrosurgical forceps 104.

[0041] Now refer to Figure 3, the figure shows another embodiment of the proposed system 1, which in this case includes an electrosurgical forceps 104 coupled to the surgical tool 102 of the robotic assistance system 100; an impedance measurement circuit 301 for measuring the contact impedance with the tissue / multiple tissue environment 303; an electrosurgical radio frequency signal generator 300; and a computer system or device 311 composed of at least one processor for estimating the applied force based on the impedance measurement.

[0042] Using the electrosurgical radio frequency signal generator 300 enables the contact impedance to be measured as well. The difficulty lies in using radio frequency pulses with very high voltages between approximately 1000V and 3000V to enable electrocoagulation and electrosurgery. Therefore, the impedance measurement circuit 301 is used or included in the proposed system 1, such that impedance measurement at low voltages and currents is compatible with the high electrocoagulation and electrosurgical electrical energy at high voltages.

[0043] To achieve the mentioned compatibility, the impedance measurement circuit 301 includes a measurement sensor 310, particularly a low-voltage measurement sensor, for measuring a magnitude corresponding to the value of the contact impedance; an electronic module including two switch circuits 305, 306 for connecting or disconnecting the power cable 314 and the power cable 304 respectively, and for connecting / disconnecting the electrosurgical radio frequency signal generator 300 and the measurement sensor 310 respectively.

[0044] Similarly, the impedance measurement circuit 301 also includes an oscillator 209 to enable impedance measurement without applying any current. However, in the case of the continuous component, the oscillator can be weakly applied to the patient. The oscillator 209 provides a signal with a low voltage (e.g., 6V) and an intermediate frequency (e.g., 20KHz), which is applied to the surgical tool 102 in a monopolar or bipolar manner through the second switch circuit 306, and the contacts of this second switch circuit are normally kept closed. The said low voltage is generally not applied to the electrosurgical radio frequency signal generator 300 because the contacts of the first switch circuit 305 are normally open.

[0045] In Figure 3 the embodiment, each of the switch circuits 305, 306 includes two relays A1, A2, B1, B2. This configuration is particularly useful when the electrical energy supplied by the electrosurgical radio frequency signal generator 300 is bipolar. In other embodiments not shown in this case, particularly when the electrical energy supplied by the electrosurgical radio frequency signal generator 300 is monopolar, each of the switch circuits 305, 306 includes only one relay A1, B1.

[0046] In operation, when the doctor applies electrical energy for electrocoagulation or electrocautery, the contacts of relay A1 of the first switching circuit 305 or relays A1 and A2 must be closed, while at the same time the contacts of relay B1 of the second switching circuit 306 or relays B1 and B2 must be open. To this end, the system 1 also particularly includes a radio frequency detector 313, which has a capacitive or inductive sensor 312 on the power cable 314, and the capacitive or inductive sensor 312 allows the first switching circuit and the second switching circuits 305 and 306 to be rectified and commutated automatically when electrical energy is applied. Alternatively, this function can be performed by introducing an actuation signal of the pedal 113, which is connected to the electrocautery radio frequency signal generator 300.

[0047] In Figure 3 the example of, to prevent damage from occurring, for example, due to surges during relay commutation in the electrocautery radio frequency signal generator 300 and / or the impedance measurement circuit 301, the system 1 is particularly protected with a resistor 307 and a voltage limiter 308.

[0048] The signal / magnitude corresponding to the value of the impedance obtained by the measurement sensor 310 is processed by the processor 311 to be converted into a force vector, where the magnitude of the force is given by the value of the impedance being measured, and the argument of the vector is defined by the spatial direction of the trajectory followed by the surgical tool 102 at the moment of contact and is controlled by the control unit 110 connected to the processor 311 through the communication channel 321.

[0049] Figure 4 Another embodiment of the proposed system 1 is shown, in which case the system 1 consists of: an electrosurgical forceps 104 coupled to the surgical tool 102; an impedance measurement circuit 301 for measuring the contact impedance with the tissue / multiple tissue environment 303; and a computer system or device 311 including at least one processor. The impedance measurement circuit 301 includes a measurement sensor 310, an oscillator 309, and an electronic circuit composed of a resistor 307 and a voltage limiter 308. This thus allows compatibility with external high voltages, for example in the case of using the electrocautery radio frequency signal generator 300.

[0050] Each surgical tool 102 (see Figure 5A and Figure 5B ) is composed of a cannula 201 that supports a first articulated element or body 202, and the first articulated element or body 202 can rotate G1 around an axis 204 actuated by a drum 207 relative to the end of the cannula 201. The body 202 supports the end element 250 of the electrosurgical forceps 104, and the direction of the end element 250 can be changed by rotating G2 around an axis 206 relative to the body 202 by means of actuation of the drum 208 and the drum 209.

[0051] Similarly, the cables C1a, C1b, C2, C3, C4, and C5 and the pulley sets composed of pulleys 210, 211, 212, 213, 220, 221, 222, 223, 230, and 231 allow the transfer of motion from the drive device to which each surgical tool 102 is connected and are adapted to be able to perform a rotation G1 about the axis 204, which necessarily involves mechanical complexity that hinders the introduction of the cables 304a and 304b. This mechanical complexity is of great significance because the electrical conductors for measuring impedance must share the available smaller space with two cables C1a and C1b and four cables C2, C3, C4, and C5. The two cables C1a and C1b transmit the rotational motion G1 to the drum 207, and the four cables C2, C3, C4, and C5 transmit the direction of the electrosurgical forceps 104 and open or close it through the drums 208 and 209 ( Figure 5B )

[0052] To allow the rotation G1, the mentioned pulley sets composed of pulleys 210, 211, 212, 213, 220, 221, 222, 223, 230, and 231 are used, where at least one pulley, preferably all the pulleys, in the pulley set are provided on their hinge axes ( Figure 6A ). In particular, as Figure 6B shown, a pulley set is provided for the four cables C2, C3, C4, and C5, which move the electrosurgical forceps 104 mounted on three parallel axes 203, 204, and 205 in the diametrical position relative to the cannula 201 and the body 202. The central axis 204 connects the cannula 201 and the body 202, allows the rotation G1 to be performed, and supports four pulleys 220, 221, 222, and 223, which connect two pairs of opposing cables for transmitting the motion of the forceps, while the two axes 203 and 205 support the accompanying pulleys.

[0053] This arrangement of setting pulleys on three consecutive axes for each cable that must pass through the hinge G1 provides a distinct advantage over other embodiments, assuming that in addition to allowing the creation of a cable guiding channel between consecutive pulleys, such as in the case where the pulleys 210 and 220 form the channel 214 (see Figure 6C ), it constitutes a reliable guidance for the motion of each cable, and two free spaces are created on the pulleys 230 and 231, allowing the necessary cables 304a and 304b to pass through so that the impedance can be measured.

[0054] All pulleys are arranged on the central plane of the sleeve 201 and the main body 202, which enables the pulleys to have the maximum possible diameter without exceeding the maximum specifications of the sleeve 201. Similarly, since the 4 + 4 + 2 pulleys required for transmitting motion have the maximum possible diameter, the present invention allows reducing the curvature radius of the different cables on the pulleys, thereby improving the durability and reliability of the surgical tool 102. The cables 304a and 304b passing through the free space on the pulley 230 are integrated with the cables C2 and C3, ensuring that when the electro-surgical forceps 104 deflects on the axis G2, it does not support any mechanical force ( Figure 6D ).

[0055] An embodiment of the present invention also provides a sensory perception method for estimating or calculating a reaction force vector that must be sensed by a doctor or operator in the control unit 110 through a button / actuator 111 and / or a pedal 113 based on the value / magnitude of the obtained impedance.

[0056] Figures 7A - 7C The foregoing example is illustrated. Assuming that there is no force sensor on the surgical tool 102 that allows direct measurement of the contact force 410 ( Figure 7A ), the force vector is estimated indirectly by the processor 311. The force vector 411 is estimated as the reflection vector of the contact force 410, whose modulus is equal to the modulus of the contact force 410, while its argument is defined in the same plane 416 and is defined by two passing points 414 and 415 before the sensed contact point, the normal 412 of the contact surface 413, and the reflection angle 418 equal to the incident angle 417.

[0057] The contact surface 413 that allows performing positioning calculations in the space of the reflection vector is unknown. Therefore, the proposed method obtains an approximation of the configuration of the surface of the anatomical components of the environment by performing modeling 400 in a three-dimensional space. To this end, the method includes generating a triangulation 402 (i.e., generating a series of triangles 403) from the sensed contact points of the penetration operation by connecting the contact points 404. Each newly sensed contact point 404 ( Figure 7C ) causes the triangle 403 to be decomposed into new triangles 405 and 406. In this way, the environmental modeling resolution for obtaining the argument of the force vector 411, which is applied as a reaction force to the control of the control unit 110 and generates sensory feedback for the doctor / operator, gradually increases.

[0058] The proposed invention can be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, then the function can be stored in a computer-readable medium or encoded as one or more instructions or codes in a computer-readable medium.

[0059] The scope of the present invention is defined in the appended claims.

Claims

1. A sensory perception surgical system for robot-assisted laparoscopic surgery, comprising: An electrosurgical forceps (104) coupled to a surgical tool (102); An electrosurgical radio frequency signal generator (300) electrically coupled to an impedance measurement circuit (301) and operable to supply electrical energy to the electrosurgical forceps (104); The impedance measurement circuit (301) comprising: A measurement sensor (310) configured to measure a signal corresponding in magnitude to a value indicative of a contact impedance between the electrosurgical forceps (104) and a patient's tissue; An oscillator (309) configured to provide an electrical power signal to the measurement sensor (310); A first electronic circuit including one or more resistors (307) and a voltage limiter (308) to protect the measurement sensor (310) and the oscillator (309), the measurement sensor (310) and the oscillator (309) being connected to the electrosurgical forceps (104) via a power cable (304) of the surgical tool (102); A second electronic circuit including a first switching circuit (305) and a second switching circuit (306), the first switching circuit (305) being operative to commutate between connection and disconnection of a power cable (314) of the electrosurgical radio frequency signal generator (300) and a power cable (304) of the surgical tool (102), and the second switching circuit (306) being operative to commutate between connection and disconnection of the electrosurgical radio frequency signal generator (300) and the measurement sensor (310); and A radio frequency detector (313) including at least one capacitive or inductive sensor (312) disposed on the power cable (314) of the electrosurgical radio frequency signal generator (300) for automatically commutating the first switching circuit (305) and the second switching circuit (306) while electrical energy is being supplied; and A processor (311) operably connected to the impedance measurement circuit (301) to receive the signal measured by the measurement sensor (310) and convert the signal into a force vector, which is estimated as a reflected vector of the received signal, the modulus of the vector being a function of the contact impedance and the argument of the vector being defined by a trajectory followed by the surgical tool (102) at the moment of contact.

2. The system according to claim 1, wherein The electrosurgical radio frequency signal generator (300) is configured to supply electrical energy as monopolar and bipolar electrical energy.

3. The system according to claim 1, wherein The electrical energy supplied is monopolar, and wherein the first switching circuit (305) and the second switching circuit (306) each include a relay (A1, B1).

4. The system according to claim 1, wherein The electrical energy supplied is bipolar, and wherein the first switching circuit (305) and the second switching circuit (306) each include at least two relays (A1, A2, B1, B2).

5. The system according to claim 1, further comprising a control unit (110), the control unit including control elements (111, 113), the control elements (111, 113) being operatively connected to the impedance measurement circuit (301) and the electrosurgical radio frequency signal generator (300) for controlling the impedance measurement circuit (301) and the electrosurgical radio frequency signal generator (300).

6. The system according to claim 5, wherein, The control elements include a pedal and a button.

7. The system according to claim 5 or 6, wherein The processor (311) is included in the control unit (110).

8. The system according to claim 1, wherein The electrosurgical forceps (104) is coupled to the surgical tool (102) using a pulley set composed of a plurality of pulleys and a plurality of cables that allow the electrosurgical forceps (104) to open or close and the electrosurgical forceps (104) to move, wherein at least one of the plurality of pulleys is provided on its own hinge axis.

9. The system according to claim 8, wherein, A pulley set composed of a plurality of pulleys is provided on three parallel axes (203, 204, 205), and the three parallel axes (203, 204, 205) are provided at diametric positions with respect to the main body (202) of the surgical tool (102) and the electrosurgical forceps (104).

10. A non-transitory computer-readable medium including program code instructions that, when executed by a processing unit of a sensory perception surgical system, implement a method for estimating a reaction force vector sensed in a control unit of the sensory perception surgical system, wherein the sensory perception surgical system includes an electrosurgical forceps (104) coupled to a surgical tool (102), an impedance measurement circuit (301), and an electrosurgical radio frequency signal generator (300), the electrosurgical radio frequency signal generator (300) being electrically coupled to the impedance measurement circuit (301) and operable to supply electrical energy to the electrosurgical forceps (104), the impedance measurement circuit (301) including a measurement sensor (310), an oscillator (309), a first electronic circuit including one or more resistors (307) and a voltage limiter (308), a second electronic circuit including a first switching circuit (305) and a second switching circuit (306), and a radio frequency detector (313), the radio frequency detector (313) including at least one capacitive or inductive sensor (312), the method including the following steps: Receiving a signal indicating a magnitude corresponding to a contact impedance value between the electrosurgical forceps (104) measured by the measurement sensor (310) and the tissue of the patient; Converting the received signal into a force vector, which is estimated as a reflection vector of the received signal, the modulus of the vector being a function of the contact impedance, and the independent variable of the vector being defined by the trajectory followed by the surgical tool (102) at the moment of contact.

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