Sterile console for robotic surgery and use thereof

Abstract

To provide a sterile console for robotic surgery which allows a surgeon to perform surgery in a comfortable position and is suitable for improving the safety of a patient and robot components during robotic surgery.SOLUTION: A sterile console 302 includes: a master input tool 306 that is not mechanically grounded and is suitable for being hand-held by a surgeon during a surgery; a surgical chair 309 having a seating surface for a surgeon to sit on during a surgery; a tracking system adapted to detect a position and an orientation of the master input tool 306 within a predetermined tracking volume 308; a tool supporting element 324 providing a support for the master input tool to rest thereon when the master input tool is not supported; a slave robot assembly having a surgical instrument designed to operate structure of a patient; and a control unit.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to a sterilization console.

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

[0003] The present invention also relates to a robotic surgical system and a surgical arena comprising said sterile console.

[0004] Additionally, one object of the present invention is a method for performing surgery. [Background technology]

[0005] Robotic surgical assemblies including a master interface and a slave surgical tool are generally known in the art. In particular, known types of robotic surgical assemblies include a control station including a display and connected to a master interface. For example, a retrofit control station attachment shown in International Publication WO 2016 / 201207 serves as a master input tool for controlling slave surgical instruments operating on a patient's anatomy. Summary of the Invention [Problem to be solved by the invention]

[0006] For example, US Patent Application Publication US2008177285 discloses a master console station having armrests attached to seat elements, where a mechanically constrained appendage projects from each armrest forming a free end including a metallic wearable ring designed to fit on a surgeon's finger and detects manual commands provided by the surgeon wearing the ring, and the master control appendage is directly connected to an articulated lever assembly to transmit commands to a slave portion of a robot.

[0007] The surgical master control station disclosed in the above-referenced patents is encumbered by its wearable mechanical appendages, which place the surgeon's arms and hands in uncomfortable positions during surgery.

[0008] For example, European Patent Application Publication EP 2845556 discloses a master console station for telerobotic surgery with a display and a control chair with mechanical appendages protruding from a frame structure integral with the arms of the chair, which serve as a master input tool for controlling a slave surgical robot arm. Such master input appendage is connected to a force / torque detector and a force compensator to detect the surgeon's intended manual commands and transmit said information to the slave surgical instrument via a data processing unit.

[0009] Such remote console stations require the surgeon to sit and operate them in a dedicated control room, because they are not suitable to be placed in a sterile or aseptic surgical arena, e.g., around the operating table, and at the same time, such console stations are designed to be stationary, in other words, not easily transportable to a remote control room in a different location.

[0010] Moreover, such a remote console station requires the surgeon to insert his / her arm into the metal frame to operate and access the master control appendage. Although it has a satisfactory effect in reducing noise mainly caused by mechanical vibrations transmitted by the surgeon to the master mechanical appendage equipped with force / torque detectors, this method forces the surgeon to operate in an uncomfortable position and posture during the operation, especially during a long surgical operation. When performing a robotic operation using such a remote console station, the surgeon sits at an immovable console, ideally located far away from the surgical arena, and operates the master control appendage equipped with force / torque detectors and having the appearance of a control lever. Therefore, the surgeon cannot get a sense of the operation.

[0011] Therefore, there is a need to improve the surgeon's comfort during robotic surgery and ensure that the surgeon is in a position to operate a familiar master controller.

[0012] For example, the same applicant's published international applications WO2017 / 064303 and WO2017 / 064306 disclose a master interface with a control tool that reproduces the behavior of a pair of normal surgical tweezers. These tweezers are equipped with sensors that suitably detect a tracking field generated by a tablet connected to the tweezers. Although partially satisfactory, in particular because of the familiarity of handling such normal surgical tweezers, the training period of a surgeon to perform robotic surgery is shortened, these solutions also have drawbacks.

[0013] In particular, in such known solutions, the volume detected by the tracking tablet is limited to a portion of the space above the tracking tablet. Thus, the surgeon cannot move the master input tool below the master tracking tablet, limiting the surgeon's range of movement and comfort during surgery. 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 cannot transmit that 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 also providing the surgeon with the ability to operate a familiar master controller.

[0015] US Patent Application Publication US20140018960 discloses a master interface comprising a remote console linked to a control system for actuating a teleoperated slave robotic arm to operate on a patient. The console defines a body-centered reference frame and comprises a mechanically ungrounded master tool gripping device. A control unit detecting the body-centered reference frame thus obtains information regarding the position and orientation of the master tool gripping device and transmits command signals to the slave robotic arm to actuate the end effector. Other examples of remote consoles are disclosed in US Patent Application Publication US20180078319 and US20180092706.

[0016] A solution for laparoscopic surgery is known from the international application WO 2014 / 151621. The international application discloses a master platform comprising a display suitable for showing laparoscopic views, a wired or wireless master controller that is optically or electromagnetically tracked, and a support bar. The support bar is suitable for a standing surgeon to rest his forearm on. The main advantage of this solution is that the movements of the master controller can be tracked in a volume that extends both above and below the support bar. This increases the range of movement of the surgeon during laparoscopic surgery and also allows the surgeon to rest his forearm on said support bar. Furthermore, such a solution allows the surgeon to use the master controller for operating via a robotic end effector simultaneously with conventional surgical tools suitable for operating directly on living anatomy, providing the surgeon with a wide range of surgical possibilities.

[0017] Despite the above mentioned advantages, the disclosed solution fails to provide a comfortable and reliable posture for the surgeon during the robotic surgery. Because the master platform method forces the surgeon into an uncomfortable posture, the optical tracking of the master controller disclosed in the document allows the surgeon to walk around the surgical arena during the surgery. However, this can easily cause the surgeon and / or the surgical team to lose focus and cause undesirable accidental collisions with the robotic assembly, especially in the case of prolonged surgery.

[0018] There is a need to provide a sterile console for robotic surgery that is suitable for improving the safety of the patient and robotic components during robotic surgery while allowing the surgeon to operate in a comfortable position.

[0019] There is also a need to provide a sterile console that allows the surgeon to operate safely in a comfortable position while avoiding limitations on the permitted range of movement.

[0020] There is a need to provide a sterile console that is suitable for improving the reliability of robotic surgery by increasing precision, focus, and at the same time suitable for long duration surgeries, thereby avoiding excessive discomfort or unfamiliarity for the surgeon. [Means for solving the problem]

[0021] It is an object of the present invention to overcome the drawbacks mentioned with reference to the known art.

[0022] It is an object of the present invention to provide a sterile console for a robotic surgery system designed to improve the surgeon's comfort during robotic surgery, thereby avoiding compromising the reliability of the robotic surgery.

[0023] These and other objects are achieved by a sterile console according to claim 1, a robotic surgery system according to claim 12, a surgical arena according to claim 14 and a method according to claim 16.

[0024] Some preferred embodiments are the subject of the dependent claims.

[0025] According to one aspect of the present invention, a sterile console for a robotic surgical system comprises at least one master input tool that is not mechanically grounded and is suitable for being hand-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 adapted to detect a position and orientation of the at least one master input tool within a predetermined tracking volume, and at least one tool support element providing support for the at least one master input tool when the at least one master input tool is not being hand-held by the surgeon.

[0026] The at least one master input tool defines at least one first frame of reference attached thereto, and the tracking system has a field generator and defines a second frame of reference attached thereto, the position and orientation detected by the tracking system being the position and orientation of the at least one first frame of reference relative to the second frame of reference, whereby a control unit of a robotic surgical assembly receives information regarding the position and orientation of the at least one master input tool within the tracking volume and sends command signals to a slave robotic assembly to actuate the at least one surgical instrument.

[0027] A field generator, e.g., a magnetic field generator, of the tracking system is integral with part of the surgical chair, so that when a surgeon sits on the seating surface of the surgical chair and holds the at least one 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.

[0028] The seating surface of the surgical chair is pivotable about a substantially vertical axis of rotation and said field generator of the tracking system is integral with said seating surface, whereby the tracking volume is integral with the seating surface of the surgical chair of the sterile console while the seating surface pivots about said substantially vertical axis of rotation.

[0029] The surgical chair comprises a seating under-support portion integral with said seating surface and a chair base structure providing structural support to the seating under-support portion, said seating under-support portion being capable of pivoting about a rotation axis substantially perpendicular to said chair base structure, and a field generator may be integral with said seating under-support portion, whereby a tracking volume is integral with the seating surface of the surgical chair of the sterile console while the seating under-support portion pivots about the substantially perpendicular rotation axis.

[0030] The sterile console may include a sterile drape that covers at least the seating surface of the surgical chair, and preferably also covers the armrest surfaces of the armrest assemblies of the surgical chair, and preferably also covers the seating back portion of the surgical chair. The sterile drape may have a plastic backing or the like.

[0031] The present disclosure provides a sterile console for robotic surgery that is suitable for placement within a surgical arena surrounding a patient's anatomy during surgery, and that is also suitable for movement during surgery, such that unnecessary command signals are not transmitted to the surgical end effectors.

[0032] The surgical arena may include at least one of said sterile consoles, at least one slave robotic assembly with at least one surgical instrument designed to operate on a patient anatomy, and a patient support structure, such as a surgical table, forming a support on which the patient anatomy rests during surgery and located within the surgical arena.

[0033] The sterile console can be placed in the surgical arena near the operating table and thus does not require one-time use.

[0034] The robotic surgery system may include at least one of said sterile consoles, at least one slave robot assembly, and a control unit. The slave robot assembly comprises at least one surgical instrument designed to operate on a patient's anatomy. The control unit is adapted to receive information regarding the position and orientation of the at least one master input tool within the tracking volume and to transmit command signals to the slave robot assembly to actuate the at least one surgical instrument, thereby not requiring a one-time use. The entire robotic surgery system may be located within a surgical arena.

[0035] Further characteristics and advantages of the present invention will become apparent from the following description of preferred embodiments given by way of example and not of limitation, with reference to the accompanying drawings, in which: FIG. [Brief description of the drawings]

[0036] [Figure 1] FIG. 1 is a schematic top view of a sterilization console within a surgical arena, according to one embodiment. [Diagram 2] FIG. 13 is a top view schematic of a remote non-sterile console. [Diagram 3] FIG. 1 illustrates an axonometric view of a robotic surgical system with a sterile console in a surgical arena, according to one embodiment. [Figure 4] FIG. 1 illustrates an axonometric view of a sterilization console, according to one embodiment. [Diagram 5] FIG. 1 illustrates an axonometric view of a sterilization console with an occupancy detector shown, according to one embodiment. [Figure 6] FIG. 13 is an axonometric view of a sterilization console showing an occupancy detector and a sterilization display according to one embodiment. [Figure 7] FIG. 1 illustrates an axonometric view of a sterilization console with a predetermined tracking volume shown, according to one embodiment. [Figure 8] FIG. 1 illustrates an axonometric view of a sterilization console, according to one embodiment. [Figure 9] FIG. 1 illustrates an axonometric view of a robotic surgery system with a sterile console, according to some embodiments. [Figure 10] FIG. 1 illustrates an axonometric view of a robotic surgery system with a sterile console, according to some embodiments. [Figure 11] FIG. 13 is an axonometric view of a sterile console tool showing wireless connectivity of the tool, according to one embodiment. [Figure 12] FIG. 1 illustrates an axonometric view of a sterilization console, according to one embodiment. [Figure 13]FIG. 1 is an axonometric view of a robotic surgical system with a sterile console in a surgical arena, with wireless chair connectivity shown, according to one embodiment. [Figure 14] FIG. 1 is a perspective view of a sterile console showing armrest assemblies associated with a field generator according to one embodiment. [Figure 15] FIG. 1 is a perspective view of a sterile console showing armrest assemblies associated with a field generator according to one embodiment. [Figure 16] FIG. 1 is a block diagram of a robotic surgery system, according to one embodiment. [Figure 17] FIG. 1 is a block diagram of a robotic surgery system, according to one embodiment. [Figure 18] FIG. 1 is a schematic side view of a sterile console in a surgical arena with a sterile drape covering a surgical chair, according to one embodiment. [Figure 19] FIG. 1 is a perspective view of a sterilization console according to one embodiment. [Figure 20] FIG. 1 is an axonometric view of a surgical chair covered with a sterile drape, according to one embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0037] According to a general embodiment, a sterile console 302 for a robotic surgical system 301 is provided.

[0038] According to a general embodiment, a robotic surgery system 301 is provided that comprises at least one sterile console 302 as described above.

[0039] According to a preferred embodiment, the robotic surgical system 301 includes at least one master input tool 306 .

[0040] The master input tool 306 is not mechanically grounded and is suitable to be hand-held by a surgeon 332. Preferably, the term "mechanically ungrounded" contemplates that the master input tool 306 is not mechanically constrained with respect to possible positional and orientational movements within a predetermined working volume, for example a volume that allows tracking of positional movements within an arm's length of the surgeon 332 and tracking in all directions.

[0041] According to one embodiment, the robotic surgery system 301 comprises the at least one sterile console 302 adapted to detect manual commands 348, and at least one slave robot assembly 303. The sterile console 302 includes the master input tool 306, and the slave robot assembly 303 comprises at least one surgical instrument 304 designed to operate on a patient's anatomy 337. Preferably, the at least one surgical instrument 304 forms a teleoperated end effector of the slave robot assembly 303 in a "master-slave pair" with the master input tool 306.

[0042] According to one embodiment, the mechanically ungrounded master input tool 306 is unconstrained by the slave robot assembly 303 in both positional and orientation movements within the surgeon's reachable workspace and / or manual tracking of the transmitter workspace (e.g., Cartesian yaw, bob, surge, pitch, yaw, roll, etc.). Preferably, the master input tool 306 is an ungrounded master input tool.

[0043] According to a preferred embodiment, the at least one master input tool 306 is adapted to be handheld by the surgeon 332 during surgery and to be manipulated from various positions within the surgical arena 333. According to a preferred embodiment, the term "surgical arena" refers to a portion of a space that at least partially surrounds the patient's anatomy 337. Preferably, the surgical arena 333 includes various locations in the vicinity of the patient's anatomy. Preferably, the term "surgical arena 333" excludes remote locations, such as a remote console 358 that includes a visualization screen and is in remote communication with a surgical robot located in the vicinity of the patient's anatomy. Preferably, the term "surgical arena" refers to a location in the same room as the patient during surgery, where the surgeon has a direct view of the patient's anatomy 337.

[0044] For example, according to a preferred embodiment shown in FIG. 1, the sterilization console 302 is located within a surgical arena 333 .

[0045] According to a preferred embodiment, the sterile console 302 includes a sterile drape 361 that covers the seating surface 310 of the surgical chair 309. The sterile drape 361 provides biological separation of the patient's anatomy 337 from the seating surface 310 of the surgical chair 309 of the sterile console 302, reducing the risk of contamination. Furthermore, in this way, the surgical chair 309 can be placed in the surgical arena 333 without the need for sterilization before every surgery.

[0046] According to one variant, as shown for example in Figure 2, the surgeon 332 can operate from a remote location 358 and cannot directly see the patient's anatomy 337. He must therefore use remote visualization means 359, 360, such as a remote screen 359 and / or remote glasses 360. Preferably, the remote location 358 is separated from the surgical arena 333 by a wall 362 or a barrier 362.

[0047] According to a preferred embodiment, the term "steered" as referred to the master input tool 306 refers to the master input tool being capable of being handled or manipulated by hand or as if it were a hand. According to a preferred embodiment, the term "handheld" as referred to the master input tool 306 refers to the master input tool being designed to be manipulated while being held in a hand, e.g., a surgeon's hand 356. According to one embodiment, the master input tool 306 is a portable master input tool 306. According to a preferred embodiment, the term "portable" as referred to the master input tool 306 refers to the master input tool being capable of being carried or moved.

[0048] According to one embodiment, the slave robot assembly 303 comprises at least one surgical arm 334 for manipulating the surgical instrument 304. According to one embodiment, the slave robot assembly 303 comprises 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 and forms a kinematic chain with the surgical arm 334 for manipulating the surgical instrument 304. According to one embodiment, at least two micromanipulators 335 are directly connected in series to the surgical arm 334 and forms at least a two-branch kinematic chain with the surgical arm 334.

[0049] According to one embodiment, the robotic surgical system 301 comprises a control unit 305 adapted to receive at least a position and orientation associated with the master input tool 306 and adapted to send command signals to a slave robot assembly 303 for actuating the surgical instrument 304.

[0050] According to a preferred embodiment, the control unit 305 is adapted to receive a first command signal 349 containing information regarding the manual command 348 and to transmit a second command signal 350 containing information regarding the manual command 348 to the slave robot assembly 303 to actuate the surgical instrument 304.

[0051] According to one embodiment, the slave robot assembly 303 includes at least one surgical arm 334 for maneuvering the surgical instrument 304. According to one embodiment, the slave robot assembly 303 includes at least one micromanipulator 335 for maneuvering the surgical instrument 304. Preferably, the at least one micromanipulator 335 is directly connected in series to the surgical arm 334 to form a kinematic chain with the surgical arm 334 for maneuvering the surgical instrument 304. According to one embodiment, at least two micromanipulators 335 are directly connected in series to the surgical arm 334 to form at least a two-branch kinematic chain with the surgical arm 334.

[0052] According to a preferred embodiment, the robotic surgical system 301, and preferably the sterile console 302 of the robotic surgical system 301, further comprises at least one tracking system, comprising a field generator 307 or base component 307 suitable for detecting the position and orientation of the master input tool 306 in a predefined tracking volume 308.

[0053] According to a preferred embodiment, the at least one tracking system generates the predetermined tracking volume 308, for example by means of a field generator, for example a magnetic field generator. According to an embodiment, the field generator 307 of a tracking system comprises a magnetic field generator and / or an optical field generator. According to a preferred embodiment, the base component 307 generates a field that defines the predetermined tracking volume 308.

[0054] The master input tool 306 defines a first frame of reference attached thereto: X1, Y1, Z1; X2, Y2, Z2. In other words, the robotic surgical system 301 has a first frame of reference attached to the master input tool 306: X1, Y1, Z1; X2, Y2, Z2.

[0055] The sterile console 302 comprises at least one surgical chair 309 having at least one seating surface 310 for a surgeon to sit on during surgery. According to one embodiment, the surgical chair 309 is a stool. Preferably, the sterile console 302 comprises the surgical chair 309 and the at least one master input tool 306.

[0056] The field generator 307 of the tracking system defines a second reference frame X0, Y0, Z0 attached to it, in other words, the robotic surgical system 301 has a second reference frame X0, Y0, Z0 attached to the field generator 307 of the tracking system.

[0057] The field generator 307 of the tracking system is designed to detect the position and orientation of the master input tool 306 in the predetermined tracking volume 308 .

[0058] Preferably, the predetermined tracking volume 308 is fixed in space with respect to the field generator 307. In other words, the tracking volume 308 is integral with the field generator 307 of the tracking system.

[0059] 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 frame X1, Y1, Z1; X2, Y2, Z2 relative to the second reference frame X0, Y0, Z0 within the tracking volume 308.

[0060] According to one embodiment, the robotic surgical system 301 comprises a control unit 305 adapted to receive at least a position and orientation associated with the master input tool 306 and adapted to send command signals to a slave robot assembly 303 for actuating the surgical instrument 304.

[0061] According to a preferred embodiment, the control unit 305 is adapted to receive a first command signal 349 containing information regarding the manual command 348 and to transmit a second command signal 350 containing information regarding the manual command 348 to the slave robot assembly 303 to actuate the surgical instrument 304.

[0062] According to one embodiment, the slave robot assembly 303 comprises at least one surgical arm 334 for manipulating the surgical instrument 304. According to one embodiment, the slave robot assembly 303 comprises 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 and forms a kinematic chain with the surgical arm 334 for manipulating the surgical instrument 304. According to one embodiment, at least two micromanipulators 335 are directly connected in series to the surgical arm 334 and forms at least a two-branch kinematic chain with the surgical arm 334.

[0063] Advantageously, the field generator 307 of the tracking system is integral with a portion of the surgical chair 309, such that when a surgeon is seated 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. Furthermore, in this way, the tracking volume 308 can move and / or be repositioned together with the portion of the surgical chair 309 that is integral with it.

[0064] According to a preferred embodiment, the field generators 307 of the tracking system are integral with the seating surface 310 of a surgical chair 309 .

[0065] According to a preferred embodiment, the surgical chair 309 comprises at least one seating detector 328 for detecting when a surgeon 332 is seated on the surgical chair 309. For example, the seating detector 328 comprises at least one load cell disposed on, in or under the seating surface 310. Preferably, the seating detector 328 is operatively connected to the control unit 305.

[0066] According to a preferred embodiment, the master input tool 306 is designed to be hand-held within the tracking volume 308 by the surgeon 332 when the surgeon 332 is seated on the seating surface of the surgical chair 309. Preferably, the master input tool 306 is designed to be hand-held within the tracking volume 308 by the surgeon 332 only when the surgeon 332 is seated on the seating surface of the surgical chair 309.

[0067] According to a preferred embodiment, the robotic surgical system 301 includes at least one master input tool support element 324 or tool support element 324, which preferably provides support on which the master input tool 306 is placed when the surgeon is not holding the at least one master input tool 306.

[0068] According to a preferred embodiment, the tool support element 324 is integral with a part of the surgical chair 309, whereby, when a surgeon 332 is seated on the seating surface 310 of the surgical chair 309, the surgeon 332 can manually place the at least one master input tool 306 on the tool support element 324 himself.

[0069] By providing such a tool support element 324 that is integral to part of the surgical chair 309, when the tool support element 324 supports the master input tool 306, the position and orientation of the master input tool 306 detected by a tracking system can be maintained unchanged even if the surgical chair 309 is moved relative to the slave robot assembly 303.

[0070] Preferably, the master input tool 306 is suitable 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, during surgery, the master input tool 306 can be manually placed on the tool support element 324 by the surgeon 332.

[0071] According to a preferred embodiment, a predefined tracking sub-volume 329 is defined within said tracking volume 308. In other words, said tracking volume 308 comprises at least one tracking sub-volume 329. Preferably, said tracking sub-volume is entirely contained within said tracking volume 308. Preferably, said field generator 307 of the tracking system generates said tracking sub-volume 329. Preferably, said control unit 305 defines the extent of said tracking sub-volume 329.

[0072] According to one embodiment, if a master input tool 306 is detected to be located within the tracking sub-volume 329, a control unit 305 sends a command signal to actuate the slave surgical instrument 304. If a master input tool 306 is detected to be located within the tracking volume 308 but outside the tracking sub-volume 329 (e.g., within the safety tracking volume portion 354), a control unit 305 is unable to actuate the pair of surgical instruments 304.

[0073] The tracking sub-volume 329 allows for defining an operational workspace. When it is detected that the master input tool 306 is located within the sub-tracking volume 329, the control unit 305 sends a command signal to the slave robot 303 to activate a pair of slave surgical instruments 304. At the same time, the provision of the tracking sub-volume conversely defines at least one safety tracking volume portion 354 within the tracking volume 308. When it is detected that the master input tool 306 is located within the safety tracking volume, the control unit 305 is prevented from sending a command signal to activate the surgical instruments 304. The provision of such a safety tracking volume portion 354 minimizes the risk of undesired command transmissions that may inadvertently and dangerously activate the surgical instruments 304, improving patient safety during surgery.

[0074] According to one embodiment, the at least one master input tool 306 comprises at least one sensing device 311. Sensing device 311 detects at least a position, preferably at least a position and an orientation, of the master input tool 306 within the predetermined tracking volume 308. Preferably, the sensing device 311 is integral to the master input tool 306.

[0075] 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 includes at least one sensor integral with at least a portion of the master input tool 306 and at least a wired connection to the field generator 307. According to one embodiment, the sensing device 311 includes at least one sensor integral with at least a portion of the master input tool 302 and at least a wireless connection to the field generator 307.

[0076] According to a preferred embodiment, in order to prevent the propagation of vibrational motions from the surgical chair 309 to the slave robot assembly 303 by mechanical contact, said surgical chair 309 is not mechanically constrained by the slave robot assembly 303. In this way, the risk of unwanted commands being transmitted to the slave surgical robot 303 and in particular to said slave surgical instrument 304 is reduced.

[0077] According to one embodiment, the sterile console 302 including the surgical chair 309 is operably connected to the slave surgical assembly 303, preferably by electromagnetic communication. According to one embodiment, the sterile console 302 including the surgical chair 309 is operably connected to the slave surgical assembly 303 by a chair wired connection 312. According to one embodiment, the sterile console 302 including the surgical chair 309 is operably connected to the slave surgical assembly 303 by a chair wireless connection 313. According to one embodiment, the chair wired connection 312 and / or the chair wireless connection 313 provide a power supply to the sterile console 302.

[0078] According to one embodiment, the field generator 307 defines the second reference frame X0, Y0, Z0 together with the field generator 307 and the at least one sensing device 311 detects first reference frames X1, Y1, Z1; X2, Y2, Z2 that determine at least a position of the sensing device 311 within the tracking volume 308. In this way, the sensing device 311 determines at least a position of the master tool assembly 306 together with the sensing device 311 within the defined tracking volume 308.

[0079] According to a preferred embodiment, a sterilization console 302 is provided, said sterilization console 302 comprising at least said at least one master input tool 306, said at least one surgical chair 309, and said at least one tool support element 324. The sterilization console 302 cooperates with said slave robotic assembly 303 to control said surgical instruments 304.

[0080] According to one embodiment, the sterilization console 302 includes at least one pair of master input tools 306 .

[0081] Preferably, each master input tool 306 includes at least one sensing device 311 preferably integral therewith, said sensing devices 311 cooperating to detect at least the mutual position of said pair of master input tools 306 .

[0082] According to one embodiment, the sensing device 311 comprises at least one sensor for detecting the local magnetic field generated by the field generator 308 .

[0083] According to one embodiment, the sterile console 302, including the surgical chair 309, is located within the surgical arena 333. In this manner, communication between surgical team members is enhanced. According to one embodiment, the surgical arena 333 is all contained within a single operating room.

[0084] Thus, in the robotic surgical system 302 , the surgical chair 309 is not located outside of the surgical arena 333 , such as at a remote location 358 .

[0085] According to a preferred embodiment, the robotic surgical system 302 further includes a patient support structure 336, such as a surgical table 336. The patient support structure 336 is positioned within the surgical arena 333 and provides support for a patient's anatomy 337 to rest on during surgery.

[0086] According to a preferred embodiment, the robotic surgical system 302 further comprises a surgical vision assembly 338 for presenting the surgery to the surgeon 332. According to one embodiment, the surgical vision assembly 338 comprises at least one image acquisition device 340 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.

[0087] According to one embodiment, the surgical vision assembly 338 comprises at least 3D glasses which cooperate with a display 321, preferably a 3D display, to present the surgery to a surgeon 332 at the sterile console 302 in a surgical arena 333.

[0088] By providing such a surgical vision assembly 338 and the sterile console 302 located within the surgical arena 333, the surgeon can perform robotic surgery instead of manual surgery for similar interventions.

[0089] According to one embodiment, the robotic surgical system 302 comprises at least one robot cart 342. The robot cart 342 includes at least one cart ground contact unit 351 and a cart handle 343, which is suitable for moving at least a part of the robotic surgical system 301, preferably at least the slave robot assembly 303 within a surgical arena 333. Preferably, the robot cart 342 forms a mechanical and structural support, preferably a movable mechanical and structural support, for the slave robot assembly 303.

[0090] According to one embodiment, the robotic cart 342 is connected to a power cable 344 .

[0091] According to one embodiment, the robotic cart 342 includes the control unit 305 .

[0092] According to one embodiment, the surgical chair 309 includes the control unit 305. Preferably, the control unit 305 is integral with the field generator 307.

[0093] According to one embodiment, the surgical chair 309 comprises a chair base structure 314 that provides structural support to a seating bottom 315. As such, the chair base structure 314 provides structural support to the seating surface 310 via the seating bottom 315. Preferably, the chair base structure 314 includes ground contact units 323, such as wheels.

[0094] According to one embodiment, the chair base structure 314 contains the field generator 307 such that the tracking volume 308 is integral with the chair base structure 314 .

[0095] According to one embodiment, the surgical chair 309 comprises a seating under-support portion 315 integral with the seating surface 310. Preferably, the seating under-support portion 315 is arranged below the seating surface 310.

[0096] According to one embodiment, the surgical chair 309 comprises a seating element body 346. According to one embodiment, the seating element body 346 comprises the seating surface 310. According to one embodiment, the seating element body 346 comprises a lower seating body portion 347 facing a ground surface 355. Preferably, the seating element body 346 is integral with the seating lower support portion 315.

[0097] According to one embodiment, the seating lower support portion 315 contains the field generator 307 such that the tracking volume 308 is integral with the seating surface 310 .

[0098] According to one embodiment, the seating lower support portion 315 is telescopically connected to the chair base structure 314. Thereby, the height of the seating lower support portion 315 above the ground of the seating surface 310 is telescopically adjustable.

[0099] According to one embodiment, the surgical chair 309 has a seat back portion 316. In this way, a surgeon can lean back against the seat back portion during surgery.

[0100] According to one embodiment, the surgical chair 309 includes a seating adjustment device 322. The seating adjustment device 322 allows the surgical chair 309, preferably the seating lower support part 315 of the surgical chair 309, to rotate about a substantially vertical axis of rotation VV.

[0101] According to a preferred embodiment, the seating lower support portion 315 can pivot about a vertical axis VV with respect to the chair base structure 314. Preferably, the field generator 307 is integral with the seating lower support portion 315. Thereby, the tracking volume 308 is integral with the seating surface of the surgical chair 309 of the sterile console 302 while rotating about a substantially vertical axis of rotation VV. In this way, the surgeon sitting on the surgical chair 309 can pivot during surgery without losing control over the surgical instruments 306, i.e. without sending unnecessary commands to the slave surgical instruments 306 by doing so.

[0102] According to one embodiment, the seating adjustment device 322 allows for adjustment of the height of the seating surface 310 above the ground.

[0103] According to a preferred embodiment, the surgical chair 309 is mobile and preferably movable in at least one direction in the same plane as the seating surface 310, at least in the surgical arena 333. 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 seating surface 310 of the surgical chair 309 is height adjustable.

[0104] According to a preferred embodiment, said seating surface 310 of the surgical chair 309 can rotate about a vertical axis VV.

[0105] According to a preferred embodiment, the seating surface 310 of the surgical chair 309 is height adjustable relative to the floor, for example the floor of the surgical arena 333 .

[0106] By providing the field generator 307 of the tracking system integral with the surgical chair 309, detection of the position and orientation of the master input tool 306 can be achieved regardless of the position of the seating surface 310 in the surgical arena 333. In other words, since the tracking volume 308 and the tracking sub-volume 329 are integral with the field generator 307 relative to the surgical chair 309, detection of the first reference frame X1, Y1, Z1; X2, Y2, Z2 is independent of the position of the surgical chair 309 in the surgical arena 333. This also allows the surgeon 332 to select, either in real time or in a planned manner, the best location to position the surgical chair 309 to sit on during surgery.

[0107] According to one embodiment, the surgical chair 309 comprises at least one ground contact wheel 323. The provision of said at least one ground contact wheel 323 allows the surgical chair 309, and thus the field generator 307 and associated predetermined field volume 308, to be moved at least within the surgical arena 333. Preferably, said ground contact wheel is connected to the chair base structure 314.

[0108] According to a preferred embodiment, the surgical chair 309 includes at least one armrest assembly 317L or 317R. The armrest assemblies 317L and 317R have armrest surfaces 318 designed to provide a resting surface for at least a portion of the surgeon's forearm.

[0109] According to a preferred embodiment, at least one of the armrest assemblies 317L and 317R is rounded in shape, thereby allowing the surgeon to rest only on his elbow and increasing the range of movement of the surgeon's forearm. In other words, the armrest surface 318 is substantially circular. Preferably, the armrest comprises a substantially cylindrical volume. Preferably, the armrest surface 318 forms a bulging portion.

[0110] Preferably, the surgical chair 309 includes a pair of opposing armrest assemblies 317L, 317R disposed opposite each other with respect to the seating surface 310. Thus, the surgical chair 309 includes a first armrest assembly 317L, or left armrest assembly 317L, and a second armrest assembly 317R, or right armrest assembly 317R.

[0111] According to one embodiment, at least one of the armrest assemblies 317L and 317R includes a field generator 307 of the tracking system, whereby the second reference frame X0, Y0, Z0 is integral with at least a portion of at least one of the armrest assemblies 317L and 317R.

[0112] According to one embodiment, at least one of the armrest assemblies 317L and 317R includes a display 321 that shows a portion of a user interface or touch screen. According to one embodiment, the at least one display 321 shows a portion of a slave surgical instrument 304 during surgery.

[0113] According to one embodiment, at least one of the armrest assemblies 317L and 317R includes the at least one tool support element 324. The at least one tool support element 324 provides support for the master input tool 306, preferably such that the master input tool 306 rests thereon. The tool support element 324 is integrally connected to the armrest element 320.

[0114] According to one embodiment, the armrest assemblies 317L and 317R are connected to the seat lower support portion 315 by at least one connecting element 352, e.g., a tubular connecting element. In this way, at least a portion of the armrest assemblies 317L and 317R can be integral with the seating surface 310.

[0115] According to one embodiment, the armrest assemblies 317L and 317R include at least one armrest element 320 having an armrest body that includes the at least one armrest surface 318.

[0116] According to one embodiment, at least one of the armrest assemblies 317L and 317R includes an armrest adjustment device 319 adapted to adjust at least the height of the armrest surface 318 relative to the height of the seating surface 310.

[0117] According to one embodiment, the armrest adjustment device 319 includes a telescopic extension portion 353 that is telescopically movable relative to the seat lower support portion 315. Preferably, the telescopic extension portion 353 is telescopically extendable relative to the connection element 352.

[0118] According to one embodiment, the armrest adjustment device 319 comprises at least a spherical joint connected to the armrest element 320 suitable for adjusting the spatial orientation of the armrest element 320 .

[0119] The armrest adjustment device 319 allows for the selection of an appropriate height for the armrest surface 318 relative to the seating surface 310, as well as for appropriate movement of the pitch and / or yaw and / or rotation degrees of freedom of the armrest element 320.

[0120] According to one embodiment, each of the pair of armrest assemblies 317L and 317R comprises one field generator 307. Thus, two predefined tracking volumes 308L and 308R are defined, a first predefined tracking volume 308L being integral with at least a portion of the left armrest assembly 317L and a second tracking volume 308R being integral with at least a portion of the right armrest assembly 317R. According to one embodiment, the two predefined tracking volumes 308L and 308R are connected. Preferably, the position and orientation of the left master input tool 306L is detected within the first tracking volume 3008L and the position and orientation of the right master input tool 306R is detected within the second tracking volume 308R.

[0121] According to one embodiment, each of the pair of armrest assemblies 317L, 317R includes an armrest adjustment device 319, whereby each of the armrest assemblies 317L, 317R is adjustable independently of the other. In this manner, the surgeon 332 can adjust the height of the armrest surface 318 of the left armrest assembly 317L relative to the seating surface 310 independently of the right armrest assembly 317R, and vice versa.

[0122] According to one embodiment, the armrest assemblies 317L and 317R include the tool support element 324 that provides support for a master input tool 306 to rest upon. The tool support element 324 allows the sterile console 302 to safely carry the master input tool 306 without being mechanically constrained from both the surgical chair 309 and the slave robot assembly 303, as well as from the robot cart 342 and other parts of the robotic surgical system 301. Also, in this manner, the surgeon 332 can rest the master input tool 306 when not in use, and can avoid having to hold the master input tool when not in use, greatly improving surgeon comfort.

[0123] According to one embodiment, the tool support element 324 comprises a cup-shaped body defining a tool receiving portion 325. According to one embodiment, the tool support element 324 has a cup bottom wall 326 and at least one cup side wall 327. In one embodiment, the tool support element 324 is integrally connected to the armrest element 320.

[0124] According to one embodiment, the tool support element 324 comprises a hook-shaped body for hanging a master input tool thereon.

[0125] According to a preferred embodiment, the surgical chair 309 includes at least one seating detector 328 for detecting when a surgeon is seated on the surgical chair 309 .

[0126] Preferably, the seating detector 328 cooperates with the control unit 305 to send a predetermined command signal to the slave robot assembly 303 to activate the surgical instrument 304 when a surgeon is seated on the surgical chair 309 and / or not to activate the surgical instrument 304 when a surgeon 332 is not seated on the surgical chair 309.

[0127] According to a preferred embodiment, the surgical chair 309 further comprises at least one locking device, which is adapted to selectively block at least one degree of freedom of movement of the surgical chair 309. When detecting that a surgeon is seated on the surgical chair 309, preferably on the seating surface 310, the at least one locking device cooperates with the at least one seating detector 328 to block at least one degree of freedom of movement of the surgical chair 309. 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 surgical arena 333.

[0128] According to one embodiment, said locking device selectively blocks at least the degree of freedom of movement provided by said at least one ground contact wheel 323. In this way, for example, when during an operation a surgeon 332 is seated on said operating chair 309, the latter cannot be repositioned within the operating arena 333, improving the safety of the entire surgical team during the operation.

[0129] According to one embodiment, the locking device selectively blocks at least a degree of freedom of movement provided by the seat adjustment device 322. In other words, the locking device blocks the degree of freedom of rotation about the vertical axis VV and / or the height above the ground of the seating surface 310. In this way, the surgical chair 309 cannot be adjusted, for example, during surgery when a surgeon is seated on the surgical chair.

[0130] According to one embodiment, the locking device selectively blocks at least a degree of freedom of movement provided by the armrest adjustment device 319. This feature is particularly advantageous when provided in combination with an embodiment in which each of the pair of armrest assemblies 317L, 317R comprises one field generator 307.

[0131] According to one embodiment, the seat detector 328 includes at least one load cell that senses the load of the surgeon on at least a portion of the surgical chair 309.

[0132] According to one embodiment, the seating detector 328 is associated with the seating surface 310 to detect a surgeon's load applied to the seating surface 310. In other words, the seating surface 310 includes the seating detector 328.

[0133] According to one embodiment, the seating detector 328 is associated with the seating element body 346 to detect a surgeon's load applied to the seating element body 346. In other words, the seating element body 346 includes the seating detector 328.

[0134] According to one embodiment, the seating detector 328 is associated with the seating lower support portion 315 to detect a surgeon's load applied to the seating lower support portion 315. In other words, the seating lower support portion 315 includes the seating detector 328.

[0135] According to one embodiment, the seat detector 328 is associated with the seat back portion 316 to detect contact of the surgeon with the seat back portion 316. In this manner, the seat detector 328 detects when the surgeon's back 357 is resting against the seat back portion 316.

[0136] According to one embodiment, the seating detector 328 is associated with the armrest surface 318 to detect contact of a surgeon with the seat back portion 316. In other words, the armrest surface 318 includes the seating detector 328.

[0137] According to one embodiment, the seating detector 328 is associated with the armrest surface 318 of both of the pair of armrest assemblies 317L and 317R. In other words, the armrest surface 318 of each armrest assembly 317L and 317R includes the seating detector 328.

[0138] According to one embodiment, the occupancy detector 328 includes a number of occupancy detector sensing elements, such as, for example, load cells.

[0139] According to one embodiment, the field generator 307 is removably connected to a surgical chair 309, whereby the surgical chair can be sterilized without the field generator 307. This allows for the use of the surgical chair in a sterile environment, for example in an operating room.

[0140] According to one embodiment, the sterilization console 302 includes a clutch device 345 which, when in an active state, prevents the slave robotic assembly 303 from receiving any command signals, including manual commands, detected by the sterilization console 302. In this manner, the clutch device 345 prevents the transmission of unintended motion to the slave surgical instrument 304.

[0141] According to one embodiment, the clutch device 345 is operatively connected to the surgical chair 309, preferably to the field generator 307, by a wired or wireless connection.

[0142] According to one embodiment, the master input tool 306 is mechanically unconstrained from both the surgical chair 309 and the slave robotic assembly 303. This allows the master input tool 306 to be naturally moved, rotated, and pivoted by the surgeon within the predefined tracking volume 308, preferably multiple times.

[0143] According to one embodiment, the master input tool 306 is operatively connected to the field generator 307 by a tool wireline connection 330 .

[0144] According to one embodiment, the master input tool 306 is operatively connected to the field generator 307 by a tool wireless connection 331 .

[0145] According to one embodiment, the surgical chair 309 is operatively connected to the slave surgical assembly 303 by a chair wired connection 312.

[0146] According to one embodiment, the surgical chair 309 is operatively connected to the slave surgical assembly 303 by a chair wireless connection 313.

[0147] According to one embodiment, the control unit 305 is located entirely within the seat body 314 .

[0148] According to one embodiment, the control unit is located entirely within the seat lower support portion 315 .

[0149] The robotic surgical system 301 associated with the sterile console 302 comprises at least one slave robot assembly 303 including at least one surgical instrument 304 designed to operate on a patient's anatomy and a control unit 305.

[0150] The sterile console 303 for a robotic surgical system 301 includes: at least one master input tool 306 that is not mechanically grounded and is suitable for being hand-held by a surgeon during surgery; at least one surgical chair 309 having at least one seating surface 310 for a surgeon 332 to sit on during surgery; at least one tracking system adapted to detect a position and orientation of the at least one master input tool 306 within a predetermined tracking volume 308; at least one tool support element 324 that provides support for the at least one master input tool 306 to rest on when the at least one master input tool 306 is not being held by a surgeon; Includes.

[0151] According to a preferred embodiment, the at least one master input tool 306 defines at least one first frame of reference attached thereto: X1, Y1, Z1; X2, Y2, Z2.

[0152] According to a preferred embodiment, the tracking system comprises a field generator 307 attached to it, which defines a second reference frame X0, Y0, Z0.

[0153] According to a preferred embodiment, the tracking volume 308 is integral with the field generator 307 of the tracking system.

[0154] Advantageously, the position and orientation detected by the tracking system is the position and orientation of the at least one first reference frame X1, Y1, Z1; X2, Y2, Z2 with respect to a second reference frame X0, Y0, Z0. Thus, the control unit 305 of the robotic surgical assembly 301 is suitable for receiving information regarding the position and orientation of the at least one master input tool 306 within the tracking volume 308 and for sending command signals to the slave robot assembly 303 for actuating the at least one surgical instrument 304.

[0155] Advantageously, the field generator 307 of the tracking system is integral with part of the surgical chair 309, so that when a 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.

[0156] According to a preferred embodiment, the tool support element 324 is integral with a portion of the surgical chair 309, whereby when the surgeon is seated on the seating surface 310 of the surgical chair 309, the surgeon can manually place the at least one master input tool 306 on the tool support element 324 himself.

[0157] According to a preferred embodiment, the position and orientation of the master input tool 306 detected by a tracking system can remain unchanged when the tool support element 324 supports the master input tool 306, even when the surgical chair 309 is moved relative to the slave robot assembly 303.

[0158] According to one embodiment, the surgical chair 309 includes the control unit 305 .

[0159] According to a preferred embodiment, said sterilization console 302 is defined according to any one of the embodiments described above.

[0160] According to a general embodiment, a surgical arena 333 is provided that includes a sterile console 302 according to any of the above embodiments.

[0161] The surgical arena 333 further comprises at least one slave robot assembly 303 including at least one surgical instrument 304 designed to operate on a patient anatomy 337, and preferably a patient support structure 336 that is placed in the surgical arena 333 during surgery and provides a support on which the patient anatomy 337 rests. Preferably, the patient support structure 336 comprises a surgical table or the like.

[0162] According to one embodiment, the surgical arena 333 comprises a robotic surgical assembly 301 according to any one of the embodiments described above.

[0163] According to one embodiment, the surgical arena 333 comprises a surgical vision assembly 338 that presents the surgery to the surgeon 332. Preferably, the surgical vision assembly 338 includes at least one image acquisition device 340 suitable for acquiring real-time images of the surgery being performed, and at least one image display device, such as a display 321 and / or a microscope eyepiece device 339.

[0164] According to a preferred embodiment, the surgical arena 333 includes a sterile volume and the sterile console 302 is placed within the sterile volume of the surgical arena 333 and protected and covered by a sterile drape 361 .

[0165] The following describes how the surgery is performed.

[0166] According to a general embodiment, a method of performing surgery includes: A step of sitting on the surgical chair 309; holding the master input tool 306; bringing the master input tool into a predetermined tracking volume 308; sending said command to a control unit to operate the slave robot 303; Includes.

[0167] According to a preferred mode of operation, the method comprises the further step of controlling the movement of the slave robot 303 by manipulating the master input tool 306 .

[0168] According to a preferred embodiment, the method comprises the further steps of providing a robotic surgery system 301 according to any one of the previously described embodiments.

[0169] According to a preferred mode of operation, the method comprises the further step of activating the occupancy detector 328. Preferably, this activating step is performed before the step of sending the command to the control unit 305 to activate the slave robot 303.

[0170] According to a preferred mode of operation, the seating step is preferably performed by sitting on said seating surface 310 of a surgical chair 309 .

[0171] According to a preferred mode of operation, the step of handling includes the substep of picking up and holding the master input tool 306 from the tool support element 324 .

[0172] According to a preferred mode of operation, the bringing in step is performed by moving the master input tool 306 from the tool support element 324, which is preferably located within the safe tracking volume portion 354, into the sub-tracking volume 329.

[0173] According to a preferred mode of operation, the step of sending commands is preferably performed by sending user commands to a control unit 305 to actuate said slave robot 303. According to a mode of operation, said user commands are foot pedal commands. According to a mode of operation, said user commands are manual commands provided to said master input tool 306.

[0174] According to a preferred mode of operation, the controlling step is performed by moving the slave robot 303 in response to a movement of the master input tool 306. Preferably, this step comprises the further step of moving the surgical instrument 304 of the slave robot 303 in response to a movement of the master input tool 306. In other words, controlling the movement of the at least one surgical instrument 304 of the slave robot 303 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, one surgical instrument 304 is paired with one master input tool 306 according to a master-slave pair relationship.

[0175] According to an operating mode, the method comprises the further step of stopping 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 performed by the control unit 305 by sending a command signal to the slave robot 303 with the aim of at least locking the movement of the surgical instrument 304 or by interrupting communication to the surgical instrument 304.

[0176] According to a preferred mode of operation, the step of decoupling the slave robot 303 from the master input tool 306 is performed by transmitting a foot pedal command, for example, the foot pedal command may be conveyed by a foot operated deadman type clutch device 345 or the like.

[0177] According to a preferred mode of operation, the step of decoupling the slave robot 303 from the master input tool 306 is performed automatically when the seating detector 328 detects that the surgeon leaves the seating surface 310 of the surgical chair 309 in order to stand up. Preferably, the seating detector 328 sends a command signal to the control unit 305 to decoupling the slave robot 303 from the master input tool 306.

[0178] According to a preferred mode of operation, the step of decoupling the slave robot 303 from the master input tool 306 is automatically performed by the robotic surgical system 301 when it is detected that the master input tool 306 is located within the safe tracking volume portion 354. In other words, the step of decoupling the slave robot 303 from the master input tool 306 is automatically performed by the robotic surgical system 301 when it is detected that the master input tool 306 is located outside the tracking sub-volume 329.

[0179] According to a preferred mode of operation, the method includes the further step of pivoting the predetermined tracking volume 308 about a substantially vertical axis of rotation (VV) while seated on a seating surface (310) of a surgical chair (309), by pivoting the predetermined tracking volume 308 about a substantially vertical axis of rotation (VV), in this manner no unnecessary commands are sent to the slave robot during the pivoting.

[0180] According to the mode of operation, the surgeon 332 performs the method.

[0181] The above-mentioned features, provided separately or in combination, where applicable, may in certain embodiments satisfy needs that are sometimes contrary to those disclosed above and may provide the above-mentioned advantageous effects. In particular, A robotic surgery system, a sterile console, and a surgical arena are provided that improves surgeon comfort during robotic surgery while avoiding loss of accuracy in detecting input commands. When performing robotic surgery and robotic microsurgery, the surgeon can sit close to the patient's anatomy and simultaneously move around. The surgeon's comfort during surgery is improved, thereby minimizing the risk of losing focus during lengthy surgical procedures on the patient's anatomy. The surgeon can place the master input tool in a safe and sterile location, reducing the risk of sending unwanted commands to a slave surgical instrument, even while the chair is rotating about a vertical axis. If necessary, the surgeon can view the patient's anatomy with the naked eye during surgery.

[0182] Those skilled in the art can make many variations and modifications to the above-described embodiments or can substitute functionally equivalent elements according to their particular needs without departing from the scope of the appended claims. [Explanation of symbols]

[0183] 301 Robotic Surgery System 302 Sterilization Console 303 Slave robot assembly or slave robot 304 Slave surgical instruments or surgical instruments 305 Control Unit 306 Master Input Tool 306L Left Master Input Tool 306R Right Master Input Tool 307 Field Generator 308 Tracking Volume 308L First Tracking Volume 308R 2nd Tracking Volume 309 Surgical Chair 310 Seat of surgical chair 311 Master input tool sensing device 312 Chair Wired Connection 313 Chair Wireless Connection 314 Chair base structure 315 Lower seat support part 316 Seat back part 317L;R Armrest (left, right) 318 Armrest surface 319 Armrest adjustment device 320 Armrest element 321 Display 322 Seat adjustment device 323 Ground Wheel 324 Tool support or tool holding elements 325 Tool storage section 326 Cup bottom wall 327 Cup side wall 328 Occupancy detector 329 Tracking Subvolume 330 Master Wired Connection 331 Master Wireless Connection 332 Surgeon 333 Surgery Arena 334 Surgery Arm 335 Micromanipulator 336 Operating table 337 Patient Anatomy 338 Vision Assembly 339 Microscope Eyepiece Device 340 Image Acquisition Device 342 Robot Cart 343 Cart Handle 344 Power Cable 345 Clutch Device 346 Seating element body 347 Lower seat body part 348 Manual or user command 349 First Command Signal 350 Second command signal 351 Cart Ground Contact Unit 352 Connection Elements 353 Telescopic extension part 354 Safety Tracking Volume 355 Ground or soil 356 Surgeon's Hands 357 Surgeon's Back 358 Remote Location 359 Remote Screen 360 Remote Glasses 361 Sterile drapes on sterile consoles 362 Walls or barriers VV Vertical axis

Claims

1. A master console (302) for a robotic surgical system (301) adapted to detect manual commands, comprising: at least one master input tool (306) that is not mechanically grounded and is suitable for being handheld by a surgeon during surgery; at least one surgical chair (309) having at least one seating surface (310) for a surgeon to sit on during surgery; at least one tracking system adapted to detect the position and orientation of said at least one master input tool (306) within a predetermined tracking volume (308); at least one tool support element (324) that provides support for said at least one master input tool (306) to rest on when said at least one master input tool (306) is not being held by a surgeon; Equipped with the at least one master input tool (306) defines at least one first reference frame (X1, Y1, Z1; X2, Y2, Z2) attached thereto; the tracking system includes a magnetic field generator (307) attached thereto that defines a second reference frame (X0, Y0, Z0); the tracking volume (308) is integral with the magnetic field generator (307) of the tracking system; the position and orientation detected by the tracking system are the position and orientation of the at least one first reference frame (X1, Y1, Z1; X2, Y2, Z2) relative to the second reference frame (X0, Y0, Z0), whereby a control unit (305) of the robotic surgical system (301) is adapted to receive information regarding the position and orientation of the at least one master input tool (306) within the tracking volume (308) and to send command signals to a slave robot assembly (303) to activate the at least one surgical instrument (304); the magnetic field generator (307) of the tracking system is integral with a part of the surgical chair (309), so that when a 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; Furthermore, the surgical chair (309) comprises a seating lower portion (315) that is integral with the seating surface (310) and disposed below the seating surface (310), the seating lower portion (315) including the magnetic field generator (307), and the magnetic field generator (307) being integral with the seating lower portion (315), such that the tracking volume is integral with the seating surface (310). Master console (302).

2. The surgical chair (309) further comprises a chair base structure (314) that provides structural support to a seating lower support portion (315); the seat lower portion (315) is pivotable about a substantially vertical axis of rotation (V-V) relative to the chair base structure (314); the magnetic field generator (307) being integral with the seating lower portion (315) such that the tracking volume (308) remains integral with the seating surface (310) while the seating surface (310) pivots relative to the chair base structure (314) about the substantially vertical axis of rotation (V-V); The master console (302) of claim 1.

3. 3. The master console (302) of claim 2, wherein the chair base structure (314) has at least one ground engaging wheel (323).

4. a locking device (329), the locking device (329) is adapted to selectively block at least one degree of freedom of movement provided by the ground contact wheels (323) of the surgical chair (309); The master console (302) of claim 3.

5. The surgical chair (309) includes a pair of armrest assemblies (317L, 317R) disposed opposite each other with respect to the seat surface (310), and the armrest assemblies (317L, 317R) are connected to the seat lower portion (315) via a connecting structure (352). The master console (302) of any one of claims 1 to 4.

6. The seat lower portion (315) is telescopically connected to the chair base structure (314), thereby allowing the height of the seat surface (310) from the floor to be telescopically adjusted. The master console (302) of any one of claims 1 to 5.

7. a predetermined tracking sub-volume (329) is defined within the tracking volume (308) by the control unit (305); The master console (302) of any one of claims 1 to 6.

8. When the master input tool (306) is detected to be located within the tracking sub-volume (329), the control unit (305) sends a command signal to activate the surgical instrument (304); If the master input tool (306) is detected to be located within the tracking volume (308) but outside the tracking sub-volume (329), the control unit (305) disables the linked actuation of the surgical instrument (304). The master console (302) of claim 7.

9. the at least one master input tool (306) comprises at least one detection device (311) for detecting the local magnetic field generated by the magnetic field generator (307), thereby determining the position and orientation of the master input tool (306) within the tracking volume (308); The master console (302) of any one of claims 1 to 8.

10. the detection device (311) is operatively connected to the magnetic field generator (307) and detects the at least one first reference frame (X1, Y1, Z1; X2, Y2, Z2) of the master input tool (306); The master console (302) of claim 9.

11. A master console (302) according to any one of claims 1 to 10; at least one slave robot assembly (303) comprising at least one surgical instrument (304) designed to perform surgery on a patient's anatomy (337); a control unit (305) adapted to receive information regarding the position and orientation of the at least one master input tool (306) within the tracking volume (308) and adapted to send command signals to the slave robot assembly (303) for actuating the surgical instrument (304); Equipped with A robotic surgical system (301).

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