Master controller device with attached part for remote operation of robotic and microsurgery, and related systems

Abstract

Master Controller Device with Mounting for Robotic Surgery and Microsurgery Teleoperation, and Associated Systems An unconstrained master controller device (110) for a medical or surgical teleoperated robotic system has at least one mounting (210) including a pair of mounting elements (211, 212) for the surgeon's fingers (F1, F2) and a control gripper (220) for controlling at least one degree of freedom of a slave surgical instrument (170) connectable to the master controller device, the master controller device (110) having at least one inwardly directed degree of freedom that allows at least one of the pair of mounting elements (211, 212) to be reoriented.

Description

[Technical Field]

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

[0002] A master controller device according to the present invention is designed for a robotic surgical teleoperation system.

[0003] A master controller device according to the present invention is particularly suited for use as a controller device of the type that is not mechanically bound to an operating console, although it is not limited to this.

[0004] The present invention further relates to a telerobotic surgical system including at least one master controller device. [Background technology]

[0005] Robotic surgical devices are commonly known in the art and typically include a central robotic tower or cart and one or more robotic arms extending from the tower / cart, each arm equipped with a motorized positioning system (or manipulator) for moving a distally mountable surgical instrument to perform a surgical procedure on a patient.

[0006] To control the robotic manipulators, and thus the slave surgical instruments, the surgeon operates one or more master controller devices according to a master-slave teleoperation architecture.

[0007] Known master devices are typically provided with buttons for sending control signals to the slave surgical instruments, and in particular, if the surgical instruments are endowed with opening and closing, i.e., grasping and cutting degrees of freedom, the master device comprises an interface (e.g., formed by two cantilevered flaps) for actuating such opening, closing, grasping and cutting degrees of freedom.

[0008] For example, prior art document US-2018-0235719 shows a master controller device of the type that is constrained to a surgical console, the master controller device having a control gripper with two rigid flaps, each with an attachable ring for receiving a surgeon's fingers.

[0009] In some prior art examples, the right and left master devices are each configured to be attached to an attachment on the surgical console and supported by a gimbal system.

[0010] Other master devices are known that are not mechanically or kinematically constrained to the surgical console (known in the field as "groundless" or "untethered"), i.e., "steering wheel" master devices, which are manipulated by the surgeon within a predefined 3D tracking volume. Such untethered "steering wheel" master devices can be used, for example, for unilateral teleoperation without force feedback.

[0011] Prior art documents US-2020-0237467 and US-2019-0380791 show examples of controller devices (also referred to herein as "user interface devices" (UIDs)) that are not mechanically constrained to a surgical console, in particular a master device comprising a wearable bracelet for receiving the surgeon's wrist.

[0012] Prior art documents WO-2019-099584, US-2020-0197115 and US-2020-0390510 disclose further examples of untethered master devices, in particular where the rigid rod of the control gripper is provided with a ring at the distal end that is integrally fixed to the user's finger to allow for greater control.

[0013] Furthermore, prior art document WO-2020-188390 shows a solution for a master controller device that is not constrained by a surgical console, with an easy-to-grip handle at the top of which is a cantilevered attachment for the surgeon's thumb, forming a kind of joystick or control lever, which is also drilled as a hard ring to receive the surgeon's thumb.

[0014] The unconstrained master device is typically equipped with sensors, such as an inertial platform, and / or position and / or orientation sensors, such as magnetometers or optical markers, to determine the commands to send to the slave surgical instruments.

[0015] An example of a master device that is not constrained to a surgical console is given in document US-2006-0282063, where the master controller device is equipped with a glove equipped with sensors that can be worn by the surgeon.

[0016] In some known examples, a magnetic field emitter is provided that generates a tracking volume that tracks the position and orientation of two magnetometer-type sensors with six degrees of freedom provided on the body of the master device, and provides a close command signal to the slave device when the detected distance between the sensors falls below a certain threshold. For example, prior art document WO-2022-175800 by the same applicant shows a constrained master device solution in which a system control unit checks the existence of a predefined geometric relationship between two tracking sensors adapted to control the position, orientation, and opening and closing of a slave surgical device.

[0017] Although known solutions of master devices that are not tied to an operating console are partially advantageous in some respects, they are not without drawbacks. DISCLOSURE OF THE INVENTION [Problem to be solved by the invention]

[0018] In fact, the kinematics of the joints in the human hand can force movements on the fingers operating the unconstrained master device, resulting in unnecessary position coordinates being sent to the slave device. Worse yet, this can lead to ergonomically inappropriate movements during operation, reducing the precision of movement, manipulation, and control, making the user anxious until the master device falls out of their hand, causing unnecessary commands to be sent.

[0019] There is therefore a strong need to propose a master device solution, especially of a type not limited to surgical consoles, which has improved ergonomics compared to known solutions, improves the precision of master-slave teleoperation, and allows the surgeon to easily move the master device body between his fingers while avoiding or at least minimizing problems such as restricted movement, poor maneuverability, and the risk of accidentally dropping the master device. [Means for solving the problem]

[0020] The object of the present invention is to overcome the drawbacks noted with respect to the prior art.

[0021] This and other objects are achieved by a device according to claim 1.

[0022] Some advantageous embodiments are the subject of the dependent claims.

[0023] According to one aspect of the present invention, a master controller device for a medical or surgical teleoperated robotic system includes at least one mounting portion including a pair of mounting elements for a surgeon's fingers and a manipulation portion for controlling at least one degree of freedom of a slave surgical instrument coupleable to the master controller device.

[0024] The manipulation portion preferably comprises a control gripper for controlling at least the slave opening and closing degrees of freedom of a connectable slave device such as a surgical gripper, surgical scissors, dilator, needle driver / suture cutter, and / or other surgical or microsurgical instrument.

[0025] Preferably, the control gripper comprises one or more sensors or optical markers for determining control signals to the slave device, and the mounting of the master device is excluded from the control sensors to the slave device.

[0026] According to a preferred embodiment, the control gripper comprises two rigid parts having at least one internal degree of freedom therebetween, the at least one internal degree of freedom of the control gripper preferably being a relative degree of movement towards / away from the control gripper suitable for controlling the opening and closing degrees of freedom of an enslaved slave, such as an opening and closing degree of freedom, suitable for controlling the opening and closing degrees of freedom of a slave surgical instrument operatively connected to the master controller device, or other functions of the slave device.

[0027] The mounting portion of the master controller device includes at least one orientation degree of freedom that allows at least one mounting element of the pair to be reoriented relative to the control gripper.

[0028] According to one embodiment, one mounting element is fixed to the control gripper and the other mounting element is articulatedly attached to the control gripper, thereby achieving at least one orientation degree of freedom of the mounting, in other words, at least one orientation degree of freedom of the mounting can be achieved by a single joint between the mounting element and the control gripper.

[0029] The reorientation is preferably possible in at least two directions, such as movement towards / away from the control gripper and rotation around the control gripper. The attachment element may be fixed, i.e., not movable, and not reorientable in one or more directions.

[0030] The at least one degree of freedom may allow both of the pair of mounting elements to be reoriented relative to the control gripper.

[0031] Each of the pair of mounting elements can be reoriented relative to the control gripper independently of the other mounting element, e.g., each mounting element can be individually reoriented relative to a respective rigid part of the control gripper and relative to a respective operating surface of the control gripper. According to one embodiment, each mounting element is articulatedly mounted to the control gripper, preferably articulatedly mounted to a respective rigid part of the control gripper, and at least one orientation degree of freedom of the mounting is achieved by both articulations.

[0032] According to another embodiment, the pair of mounting elements are fixed to one another and the mounting part including them is rotatably attached to the control gripper so as to achieve at least one orientation degree of freedom of the mounting part, in such a case the at least one degree of freedom is arranged, for example, between the mounting part including the pair of mounting elements and the control gripper.

[0033] Providing at least one degree of freedom of the mounting prevents movement of at least one degree of freedom of the mounting from sending commands to the slave device, i.e., the slave surgical instrument, that would otherwise be assumed to control the slave device by a sensed degree of freedom in the control gripper.

[0034] According to some embodiments, at least one degree of freedom of the mounting part is formed by one or more joints and / or articulated arms and / or one or more elastically deformable (flexible) parts, for example, each mounting element is attached to one joint and / or arm of the one or more joints and / or arms.

[0035] At least one degree of freedom of the mounting part preferably allows for repositioning of at least one of the pair of mounting elements relative to the control gripper. For example, repositioning of the mounting element can occur by changing the orientation of the mounting element relative to the control gripper. For example, manipulating the mounting element connected to the respective arm with a finger can cause a repositioning movement of the arm relative to the control gripper, in particular the respective rigid portion of the control gripper.

[0036] In one embodiment, the change of orientation occurs around a defined roll axis that extends substantially along the longitudinal extension of the control gripper and / or along the longitudinal extension of the respective rigid portion. For example, the mounting portion is movable in a substantially circumferential direction around the body of the control gripper. According to one embodiment, the roll reorientation rotates a single mounting element in a circumferential direction relative to the respective rigid portion of the control gripper. Two opposing operating surfaces intended to be operated by the fingers of a surgeon wearing the respective mounting elements can be convex, more preferably convex and substantially cylindrical, about the longitudinal axis in at least one closed configuration of the control gripper, thereby facilitating a roll movement between the control gripper and the mounting portion.

[0037] According to one embodiment, the reorientation of the at least one attachment element is in the direction of movement towards / away from the control gripper, around a defined axis transverse to the longitudinal extension of the control gripper, i.e., in a direction substantially parallel to the axis of a rotational joint, for example, arranged between rigid parts of the control gripper itself and configured to determine the sensed internal degree of freedom of movement towards / away from or opening / closing the control gripper.

[0038] At least one degree of freedom of the mountable part may be realized by a connecting element, e.g., an arm, extending between the mountable part and the control gripper. The connecting element, e.g., the arm, may comprise one or more joints, e.g., of the revolute or spherical type, and / or may comprise one or more elastically deformable portions.

[0039] Each mountable portion preferably comprises a mountable ring, which may have a rigid annular body. In one embodiment, the mountable ring extends cantilevered from the respective arm, for example, protruding cantilevered outward, i.e., oriented substantially radially outward relative to the generally longitudinal axis of the control gripper. The arms extend along the rigid portion of the control gripper and cantileveredly bring the rigid ring closer to an operating surface provided on the exterior of the control gripper.

[0040] The arms are equipped with revolute or ball joints that allow each mounting element to be repositioned in three orthogonal directions relative to the respective rigid portion of the control gripper.

[0041] According to one embodiment, the mounting portion of the master controller device includes a pair of sterile clip armors or sterile cheeks that are snap-fitted onto the respective rigid portions of the control gripper, each clip armor having a pair of mounting elements and preferably also a respective arm. A sterile drape is typically interposed between each armor and the corresponding control gripper. The armor is preferably configured to snap-fit ​​onto the body of the control gripper via the sterile drape, and for this purpose, can include a fastening portion with multiple elastic teeth. The elastic teeth are received in respective seats provided on the body of the two corresponding rigid portions of the control gripper and can have rounded ends to avoid damaging the sterile drape.

[0042] At least one degree of freedom of the mounting can be realized by one or more elastic bodies, such as wires or sheet springs forming arms. The one or more elastic bodies can comprise a pair of elastic arms, each of which mounts a mounting element. The pair of elastic arms is elastically flexible in a direction transverse to the longitudinal axis of the control gripper and, for example, around the longitudinal axis of the control gripper (roll) and / or towards / away from the control gripper.

[0043] The resilient arm is preferably preloaded towards a resting state spaced from the control gripper, i.e., a state in which the attachment element is not in contact with the sensed control gripper and is cantilevered relative to the control gripper even though it is substantially aligned with the control gripper.

[0044] At least one degree of freedom of the attachment may be achieved by one or more flexible strings or ropes that may be intertwined or woven.

[0045] The at least one degree of freedom of the mounting portion can include one or more degrees of orientation, or roll and / or pitch and / or yaw degrees of freedom. Translational degrees of freedom, such as linear opening and closing (moving towards / away from a linear trajectory), longitudinal extension and contraction, buttons, etc., can be provided. For example, each pair of arms can provide roll, pitch, and yaw mobility for its respective mounting element. Three-dimensional mobility of the mounting element can be limited.

[0046] In one embodiment, a connecting element (eg, a joint and / or arm) between the control gripper and the attachment element allows the attachment element to move toward / away from the control gripper, ie, open and close.

[0047] The proposed solution allows for the expansion of the orientation workspace by manipulating or over-rotating the local master controller device in a safe and controlled manner.

[0048] Indeed, the control gripper is sensory, i.e., configured to send control signals to the slave device, but the mount is not provided with sensors, so that manipulation of the mount relative to the control gripper is safe and ergonomic for the surgeon. It is well known that the sensors of the control gripper can be made as optical markers without any circuitry.

[0049] The fitting may be sterile, eg, disposable, and may be connected to a sterile drape (via the armour or sterile connecting cheek).

[0050] According to one aspect of the present invention, a master controller device for a robotic surgical telemanipulation system comprises a wearable portion including at least one attachment element for at least one finger of a surgeon and a manipulator (e.g., a control gripper) for controlling at least one degree of freedom of a slave surgical instrument associated with the master controller device, the manipulator comprising one or more sensors for detecting position and / or orientation information of the master device, and the mounting portion comprising at least one connection element enabling reorientation of the at least one attachment element relative to the manipulator.

[0051] The at least one connecting element preferably comprises an arm and the at least one attachment element preferably comprises a ring, the arm allowing the ring to be reoriented and / or repositioned relative to the handling part or control gripper. In one embodiment, the ring is reorientable relative to the arm. The arm may comprise an articulated and / or elastically deformable portion. [Brief explanation of the drawings]

[0052] [Figure 1] FIG. 1 illustrates a perspective view of a teleoperated robotic system for medical or surgical procedures, according to one embodiment. [Figure 2] FIG. 2 shows a perspective view of a slave surgical instrument, according to one embodiment. [Figure 3] FIG. 3 shows a perspective view of a master controller device held in the surgeon's hand, according to one embodiment. [Figure 4] FIG. 4 shows a perspective view of the master device of FIG. [Figure 5] FIG. 5 shows a vertical side view of the control gripper of the master controller device of FIG. [Figure 6A] FIG. 6A shows a cross-sectional view of a mounting portion of a master controller device according to one embodiment. [Figure 6B] FIG. 6B shows a perspective view including a mounting portion of a master controller device according to one embodiment. [Figure 7A] FIG. 7A is a cross-sectional view showing the mounting portion of the master controller device in an individual state according to one embodiment. [Figure 7B] FIG. 7B shows a perspective view including a mounting portion of a master controller device according to one embodiment. [Figure 8A] FIG. 8A is a perspective view of an individual master controller device according to one embodiment. [Figure 8B] FIG. 8B is a perspective view of an individual master controller device according to one embodiment. [Figure 9] FIG. 9 shows a perspective view of one embodiment of a master controller device held in a surgeon's hand. [Figure 10A] FIG. 10A shows a perspective view of a mounting portion of a master controller device according to one embodiment. [Figure 10B] FIG. 10B shows a perspective view of a master controller device according to one embodiment, including the mounting portion of FIG. 10A. [Figure 11A] FIG. 11A illustrates a perspective view of a master controller device according to one embodiment. [Figure 11B] FIG. 11B schematically shows the degree of freedom in the orientation of the mounting part of the master device in FIG. 11A. [Figure 11C] FIG. 11C is a schematic diagram showing the degree of freedom of orientation of the mounting part of the master device in FIG. 11A. [Figure 12A] FIG. 12A shows a schematic representation of the possible degrees of freedom of the mounting part of the master device. [Figure 12B] FIG. 12B shows a schematic representation of the possible degrees of freedom of the mounting part of the master device. [Figure 13A] FIG. 13A is an axonometric view of a mounting portion of a master device according to one embodiment. [Figure 13B] FIG. 13B is an axonometric view of the mounting portion of the master device according to one embodiment. [Figure 13C] FIG. 13C is an axonometric view of a master device including the mounting portion of FIG. 13A. [Figure 14]FIG. 14 is an axonometric view of a mounting portion according to one embodiment. [Figure 15] FIG. 15 is an axonometric view of a master device according to one embodiment. [Figure 16A] FIG. 16A is a cross-sectional view schematically illustrating a portion of a master controller device according to one embodiment. [Figure 16B] FIG. 16B shows a perspective view of a portion of the master controller device of FIG. 16A. [Figure 17] FIG. 17 illustrates a mounting element for a master controller device, according to one embodiment. [Figure 18] FIG. 18 is a schematic diagram illustrating the attachment of a mounting half to a control gripper, according to one embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0053] Further features and advantages of the present invention will become apparent from the following description of preferred embodiments, given by way of non-limiting example, with reference to the accompanying drawings, briefly described below. It should be noted that references to "an" embodiment in this disclosure do not necessarily refer to the same embodiment, but to at least one embodiment. Furthermore, for the sake of brevity and reducing the total number of drawings, certain figures may be used to show features of more than one embodiment, and not all elements of the figures are essential to a particular embodiment.

[0054] Throughout this specification, a reference to an "embodiment" means that a particular feature, structure, or function described in connection with that embodiment is included in at least one embodiment of the invention. Thus, the appearances of "in an embodiment" in various parts of this specification do not necessarily all refer to the same embodiment. Furthermore, particular features, structures, or functions illustrated in different figures may be combined in any suitable manner in one or more embodiments.

[0055] According to a general embodiment, a master controller device 110 (or master device 110) for a robotic surgical teleoperation system 100 is provided.

[0056] The robotic system 100 includes at least one slave device 170 that can be controlled by the master device 110 .

[0057] For example, as shown in FIG. 1, the robotic system 100 can include a master console with a tracking system 140 for at least one master device 110 and a display 130 for displaying images acquired by the vision system 120, and a slave robot assembly with at least one robotic manipulator 160 for moving a slave surgical instrument 170 under the control of the at least one master controller device 110.

[0058] 2, the slave surgical instrument 170 may comprise a positioning shaft or rod at its distal end with an articulating cuff that provides slave orientation degrees of freedom (roll slave-pitch slave-yaw slave) and translation degrees of freedom (X, Y, Z), as well as a slave open / close degree of freedom. The slave degrees of freedom of the slave surgical instrument 170 may refer to a definable virtual control point that is rigidly associated with the slave device and located, for example, at the tip or midway of the jaw that is movable when the slave surgical instrument is opened or closed.

[0059] It will be understood that even if the master controller device 110 is for a surgical simulation device, the teachings of the present disclosure are applicable mutatis mutandis.

[0060] Master controller device 110 is preferably a master controller device of a type that is not limited to surgical consoles 130,140.

[0061] Advantageously, the master controller device comprises at least one mounting part 210 .

[0062] The mounting portion 210 allows the surgeon 150 to hold the master device securely in his / her hand, thereby avoiding or at least minimizing the risk of accidentally dropping the master device during remote surgical operation.

[0063] The mounting portion 210 comprises a pair of mounting elements 211, 212 for mounting a respective finger F1, F2 of the hand of the surgeon 150. Preferably, each mounting element 211, 212 of the pair (e.g., a wearable ring) mounts a finger F1, F2 (preferably the thumb F2 and index finger F1) of the surgeon's hand. It is also possible to provide more than one mounting element, for example a total of three or four wearable rings in a row and / or side by side and / or arranged around a definable longitudinal axis of the master device.

[0064] The master controller device 110 further comprises a manipulator 220 configured to control at least one degree of freedom of a slave surgical instrument 170 associable with the master device, the manipulator 220 being sensed to control the slave device.

[0065] The operating portion 220 of the master device 110 is preferably a sensing control gripper 220 having two rigid portions 231, 232 that are relatively movable toward / away from each other (OP / CL), e.g., to open / close the OP / CL. In one embodiment, each rigid portion of the control gripper is sensed and includes a sensor to obtain information about six degrees of freedom, e.g., the position and orientation of the rigid portion to which it is attached, thereby obtaining redundant information about seven degrees of freedom of the control gripper, i.e., position, orientation, and opening / closing (movement toward / away from each other).

[0066] For purposes of this disclosure, the term control gripper 220 is used synonymously with operating portion 220, although it is understood that an operating portion may not have a gripper-shaped body, but may instead comprise, for example, a radial control button to form a control gripper.

[0067] According to a preferred embodiment, the control gripper 220 comprises two opposing operating surfaces 221, 222, preferably facing radially outwards, intended to be operated by the fingers F1, F2 of a surgeon.

[0068] According to a preferred embodiment, the manipulation unit 220 includes one or more tracking sensors 223, 224 for detecting at least some of the position, orientation, and open / closed OP / CL of the master device. The detection of the position, orientation, and open / closed OP / CL of the master device is preferably performed by the manipulation unit itself, i.e., the tracking sensors are fixed to the manipulation unit 220. According to a preferred embodiment, the master controller device 110 includes two tracking sensors 223, 224, each with six degrees of freedom (three degrees of freedom of position, e.g., x, y, z, and three degrees of freedom of orientation, e.g., roll, pitch, yaw), for detecting the position, orientation, and open / closed state of the master device, as shown in, for example, FIG. 5 . For example, each tracking sensor is fixed to a rigid portion 231, 232 of the control gripper 220. The tracking sensors 223, 224 may include a pair of magnetometer-type sensors immersed in a tracking magnetic field in the operating state.

[0069] The sensor may be provided with a cable connection 227 for data transmission and / or power supply to the control unit, which in an operational state may extend, for example, from the master device 110 towards the back of the surgeon's hand.

[0070] The tracking sensors 223, 224 may comprise optical markers without circuitry.

[0071] The sensors for detecting at least part of the position, orientation, opening and closing of the master device 110 do not necessarily have to be tracking sensors, but can comprise one or more inertial sensors in combination with proximity sensors (to detect opening and closing of OP / CL) and / or any other suitable configuration of known sensors.

[0072] The master controller device 110 is preferably a master that is not mechanically tied to an operating console.

[0073] The master controller device 110 is preferably a wheel-type master for single-sided teleoperation without force feedback.

[0074] As a further advantage, the mounting portion 210 of the master controller device 110 comprises at least one degree of freedom that allows the orientation of at least one of the pair of mounting portions 211 , 212 relative to the control gripper 220 .

[0075] The turning preferably occurs along a direction θ towards / away from the control gripper 220 and / or along a roll direction ROLL around the control gripper 220 .

[0076] The at least one degree of freedom of the mountings also allows for the position of at least one of the pair of mountings 211, 212 to be changed relative to the control gripper 220. For example, the position can be changed as an effect of changing the orientation.

[0077] Preferably, one or more movement joints 217 , 250 and / or one or more elastically deformable elements 215 , 216 may be provided to reorient at least one of the pair of mounting elements 211 , 212 relative to the control gripper 220 .

[0078] According to a preferred embodiment, at least one degree of freedom allows both of the pair of attachment elements 211, 212 to be reoriented relative to the control gripper 220. In other words, each of the pair of attachment elements 211, 212 is reorientable relative to the control gripper 220, thereby achieving at least one degree of freedom of the attachment.

[0079] At least one degree of freedom is preferably realized by an internal degree of freedom of at least one mounting portion 210, and the sensed control gripper 220 also has its internal degree of freedom, which allows relative movement between the two sensed rigid portions 231, 232 of the control gripper 220 towards / away from the OP / CL, for example to open or close the OP / CL.

[0080] Providing at least one degree of freedom in the mounting allows the orientation of the mounting elements 211, 212, preferably both, relative to the sensory control gripper 220 to be changed.

[0081] Therefore, the placement of the attachment elements 211, 212 does not itself send any commands to the slave device 170.

[0082] Thus, for example, by moving a finger relative to a sensed portion of the master device, the master device can be returned to the surgeon's hand without the risk of sending unwanted commands to the slave device or losing grip of the master device during remote manipulation.

[0083] As mentioned above, the controller device 110 may be of the "steering wheel" type, not limited to the consoles 130, 140, and is capable of controlling at least one degree of freedom of a slave surgical instrument 170 of a robotic surgical telemanipulation system. To this end, according to one embodiment, the master device 110 comprises a control gripper 220 capable of monitoring, sensing, and transferring its movement and / or orientation in at least one slave degree of freedom of movement and / or orientation from the robotic system 100, and a mounting part 210 with at least a pair of mounting elements 211, 212 adapted to receive a portion of a surgeon's fingers. Thus, when the master controller 110 is grasped during use, there is at least one relative orientation degree of freedom between the control gripper 220 and the mounting part 210, and while held in the hand, the mounting part 210 can be manipulated and rotated between the fingers, with its grip and movement secured by the constraint of the user's fingers.

[0084] The control gripper 220 preferably comprises two rigid elements 231, 232 (rods) having at least one degree of freedom 230 (or articulation member, joint) associated with and related to the control of opening and closing of the slave surgical instrument 170. Such articulation member 230 may be a resilient joint 230 or a resilient part (not shown) between the rigid elements 231, 232 of the control gripper 220. The rigid elements 231, 232 of the operating part 220 may be rods or tabs connected to such relative joint 230. The rigid elements or parts 231, 232 may be rods extending along a direction coinciding with the longitudinal direction XX in the closed state of the control gripper 220, with the common axis of rotation between the rods 231, 232 specified by the joint 230 preferably moving parallel to the common longitudinal extension axis XX and the local extension axes of the rods 231, 232 themselves. The resilience of the joint 230 is intended to bias the rigid portions 231, 232 toward a predetermined open configuration of the control gripper 220.

[0085] The mounting portion 210 is comprised of two separate attachable halves 210′ ​​and 210″, which together form the mounting portion 210. Each attachable half may be comprised of a pair of mounting elements 211 or 212, as shown, for example, in FIGS. 11-14 and 16.

[0086] For example, as shown in FIG. 3 , the attachment elements are preferably rings 211, 212, each designed to accommodate the thumb F2 and index finger F1 of the surgeon's hand 150. The pair of rings are preferably positioned on opposite sides of the fixed body 214 or other body of the attachable portion 210 and on opposite sides of the control gripper 220. The control gripper 220 preferably includes two rigid portions 231, 232, and each of the pair of rings 211, 212 includes an arm 215, 216 that mounts at least one joint 217, thereby allowing the pair of rings 211, 212 to move relative to the control gripper. For example, the axis of rotation of joint 217 can be substantially parallel to the axis of rotation of joint 230 between the rigid portions of the control gripper, allowing the attachable rings to rotate relative to the control gripper when opening and closing. Each wearable ring is secured to the distal end of an arm and projects radially outward, forming an approximately 90° angle with the longitudinal axis of the arm so that the surgeon's fingers wearing the ring extend approximately along the respective arm. The provision of transverse joint 217 allows the rings to be moved away from their respective sensed stiffness portions, for example, when the control gripper is in the open position and the spring in joint 230 is at the end of its stroke.

[0087] It is well understood that the term "ring" is also meant to refer to a generally annular object for receiving a surgeon's finger. This annular object does not necessarily have to be in the shape of a closed ring, but may be, for example, an open ring that opens laterally, forming annular arcs 211, 212 for receiving a surgeon's finger. However, in a preferred embodiment, the attachment elements 211, 212 are rings. Thus, the attachment elements 211, 212 can be made as rings that fit onto the respective fingers F1, F2, and can be made as substantially rigid, open recesses.

[0088] As mentioned above, preferably, the operating unit 220 is configured to control at least the slave opening / closing degree OPEN / CLOSE of the slave surgical instrument 170 that is associable with the master controller device 110, i.e., controllable by the master controller device 110 in an operational state. In such a case, the operating unit 220 may comprise at least one control gripper 220. The operating unit 220 or the control gripper 220 may extend generally along a longitudinal direction XX, at least when the control gripper 220 is in a substantially closed configuration. For example, the longitudinal direction XX may substantially coincide with a central axis between the two rigid portions 231, 232 of the control gripper 220.

[0089] According to a preferred embodiment, the master controller device 110 is provided with an internal roll degree of freedom ROL that allows rotation of the attachment elements, such as rings 211 , 212 , around the control gripper 220 .

[0090] In other words, the at least one degree of freedom that allows for reorientation and repositioning of the at least one attachment element relative to the control gripper includes a roll degree of freedom about a defined roll axis that can coincide with the longitudinal extension axis of the control gripper, essentially causing a generally circumferential rotation of the attachment element relative to and about the longitudinal extension axis of the control gripper. For example, the term "roll degree of freedom" also refers to a local rotation of each attachable ring about a local roll axis that coincides with the longitudinal extension axis of each rigid portion 231, 232 of the control gripper 220, i.e., a rotation of each attachment element 211 or 212 about each rigid portion 231 or 232 of the control gripper 220.

[0091] According to one embodiment, the master device 110 comprises a pivotable roll joint 250 between the mounting elements (e.g. rings 211, 212) of the mounting part 210 and the control gripper 220, which rotates about a common axis, said common axis being substantially longitudinal, i.e. along the longitudinal direction XX, thereby realizing an internal degree of freedom of the roll ROLL. The internal degree of freedom of the roll allows an angular movement of up to 90° along the roll direction about the common longitudinal axis between the mounting part 210 and the control gripper 220. According to one embodiment, said relative angular movement is up to 60°.

[0092] The rotation of the mounting elements (e.g., rings) 211, 212 may be coordinated about a common roll axis, or each ring 211 or 212 may rotate independently of the other, for example, if the mounting elements (e.g., rings) are rigidly connected to each other, i.e., roll rotation is unified. However, in this case, the mounting elements (e.g., rings) may be independently orientated, for example, by providing arms 215, 216 with joints 217 or articulation members 217 that can move toward or away from each other (although arms 215, 216 may be substantially fixed in the roll direction ROLL). For example, if mounting portion 210 is formed by two separate mountable halves 210', 210'', the rotation of each ring 211, 212 is independent of the other.

[0093] The pivot joint 250 between the mounting part 210 and the control gripper 220 can be constituted by an internal degree of freedom of the roll located inside the mounting part 210 of the master device. In other words, the pivot joint 250 about the longitudinal axis XX between the mounting part 210 of the master device 100 and the control gripper 220 can be constituted by a degree of freedom of the roll inside the mounting part 210. The degree of freedom of the roll inside the mounting part 210 can be constituted by, for example, intertwined or woven rolling elements and / or elastic bodies and / or strings.

[0094] According to one embodiment, as described above, the mounting part 210 is pivotally connected to the control gripper 220 of the master controller device, which allows the control gripper to roll about the longitudinal axis XX relative to the mounting part, forming a pivot joint 250. The pivot joint 250 is preferably configured as a coaxial pivot joint.

[0095] As described above, such a master device 110 allows the control gripper 220 or manipulation unit 220 to change orientation relative to the wearable element (e.g., rings 211, 212) while remaining constrained to the hand or finger by the wearable unit 210. The wearable element (e.g., ring) can change position relative to the control gripper or manipulation unit without sending a command to the slave device.

[0096] 4, the master device 110 allows the control gripper to rotate relative to the mounting elements (e.g., rings 211, 212) of the mounting portion 210, and in particular the mounting elements (e.g., rings) rotate together while rotating relative to the control gripper. Meanwhile, a joint 217 (hinge) attached to each arm 215, 216 of the pair of arms 215, 216 provides an additional rotational degree of freedom θ about a transverse axis, i.e., towards / away from the arms 215, 216. The arms 215, 216 are provided at their ends with respective mounting elements (e.g., rings).

[0097] By providing attachment elements, e.g., wearable rings 211, 212, the master device 110 can be held firmly in the hand of the surgeon 150, even during different orientations of the control gripper 220, in particular during its rotation. By rotating the control part 220 between the fingers F1, F2, the surgeon 150 can relieve nervous tension and properly manipulate the slave surgical instrument 170 during teleoperated surgery. The proposed solution allows for the use of attachment elements, e.g., rings, to firmly fix the master device 110 to the fingers F1, F2 of the surgeon who rotates the control gripper 220 around the longitudinal axis XX.

[0098] According to a preferred embodiment, the pivotable roll joint 250 between the wearing part 210 and the control gripper 220 is a reversible or detachable connection, i.e., the wearing part 210 and the control gripper 220 can be attached and detached as needed, for example to sandwich a sterile drape 240 therebetween and / or to change their relative position. Both wearable elements, e.g., rings 211, 212, can be provided with a fixed body 214, preferably connected by respective arms 215, 216, which preferably has an annular shape and is mounted on the control gripper 220, for example near the joint 230 between the rigid parts 231, 232 to be sensed. According to a preferred embodiment, the pivotable roll joint 250 is a coaxial pivotable joint and comprises one or more rolling members, such as ball bearings. The rotating member does not necessarily have to be interposed between the wear part 210 and the control gripper 220; for example, the wear part 210 can comprise a part or body 214 fixed to the control gripper and a movable part 218, e.g., a movable mounting ring 218, attached to the fixed part 214, in which case the wear elements, e.g., rings 211, 212, rotate around the body 214 with the rotating member interposed between the wear elements, e.g., rings 211, 212, and the fixed body 214 (between the movable ring 218 and the fixed body 214). In other words, the attachment elements (e.g., rings 211, 212) for the surgeon's fingers F1, F2 can be attached to the movable ring 218, which is rotatably attached to the fixed part 214, which is fixed to the control gripper 220 of the master device 110.

[0099] According to one embodiment, the roll movement ROLL permitted by the mounting element (e.g. ring) is synchronous, i.e. integral with the rotation, and / or occurs entirely along a circular path around the longitudinal axis XX. In this case, the arms 215, 216 are preferably rigid, and the internal degree of freedom of the roll is realized by rolling members.

[0100] For example, as shown in FIG. 9 , the pivotable roll joint between the mounting part 210 and the control gripper 220 can include one or more elastic connecting elements 215, 216 or elastic arms 215, 216 configured to be elastically flexible in the roll rotation direction ROLL. Alternatively or additionally, the elastic bodies or elastic arms 215, 216 can be flexible in an opening / closing direction, i.e., toward or away from the control gripper, thereby forming the at least one degree of freedom of the mounting part. The elastic bodies can be made as wire springs and / or foil springs, for example by providing folded elongated elements. The elastic bodies can be made from polymer materials, such as ultra-high molecular weight polyethylene (UHMWPE), rubber, silicone, etc.

[0101] Thus, according to one embodiment, the provision of elastic elements provides an internal degree of freedom for the roll ROLL, i.e. a substantially circumferential rotation relative to the longitudinal axis of the control gripper 220, but the movement permitted for the mounting element (e.g. ring) does not necessarily have to be synchronous and / or occur entirely along a circular path around the longitudinal axis XX. Furthermore, the provision of elastic arms 215, 216 not only allows for a relative movement (orientation) in the θ direction from the mounting element (e.g. mountable ring), but also for a relative movement (orientation) in the θ direction of the individually mountable ring 211 or 212 relative to the respective rigid part 231 or 232 of the control gripper 220 and the respective opposing operating surface 221 or 222.

[0102] As described above, according to a preferred embodiment, the wearing portion 210 includes a pair of connecting elements 215, 216, e.g., arms 215, 216, to each of which a pair of wearing elements 211, 212 are attached. The arms 215, 216 may be elastic arms or elastic joints, providing a degree of freedom of roll. The arms 215, 216 may be elastic arms that provide a degree of freedom of movement of the wearing elements toward / away from the control gripper 220 by θ. The arms 215, 216 may be in the form of elastic laces that are movable relative to the control gripper 220.

[0103] According to one embodiment, a first arm 215 and a second arm 216 are provided, each of which has a pair of mounting elements 211 or 212 attached thereto. Preferably, the mounting elements are cantilevered at the end of the respective arm 215, 216. Preferably, the mounting elements are rings 211, 212 that cantilever in the opening direction, i.e., away from the common longitudinal axis XX. In other words, the pair of mounting elements, e.g., rings 212, 213, preferably have a rigid body that cantilevers outward laterally. The rings therefore cantilever from the respective arms away (open) from the respective rigid parts 231, 232 of the control gripper 220 (away from the opening) and away from the respective operating surfaces 221, 222.

[0104] Each arm 215, 216 may include a joint 217 along its extension, such as a revolute joint 217, which allows for lateral movement of the attachment element toward / away from the control gripper in a θ direction, i.e., inward / outward, that is transverse or radial to the longitudinal direction. As described above, the two opposing arms are resilient, and each arm carries one of a pair of cantilevered rings attached to one end thereof, such as rings with rigid annular edges.

[0105] The arms 215, 216 can extend substantially in the longitudinal direction XX, for example from the movable part 218 or the fixed part 214, or from the mounting part 210 which is constrained to the control gripper 220 by sterile connecting cheeks 241, 242. Preferably, the arms 215, 216 extend along respective rigid parts 231, 232 of the control gripper 220.

[0106] According to one embodiment, the first mounting part 210, preferably the fixed body 214, fixed to the actuation part 220 has a hollow body (e.g., a fixed mounting ring 214) passing through in the longitudinal direction XX, which is attached to the second actuation part 220. Preferably, the hollow body is fixed to the second actuation part, for example, by interlocking and / or snap-fitting, and can have an internal roll degree of freedom. The provision of the hollow body makes it possible to mount the mounting part 210 to the operation part, for example, along the longitudinal direction XX, when assembling the mounting part 210 to the operation part 220. For example, after at least partially reclosing the opening / closing degree of freedom OP / CL of the control gripper of the operation part 220, the mounting part 210 can be mounted to the operation part 220, allowing the main body of the control gripper 220 to traverse the cavity of the fixed body 214 in the longitudinal direction.

[0107] According to one embodiment, the pair of rings are integrally mounted on the ROLL around the longitudinal axis XX, i.e. around the operating part 220 of the master controller device 110. In other words, the rings are preferably always arranged substantially opposite each other with respect to the body of the operating part 220 in the operating state and rotate in unison with each other, while ensuring the internal degree of freedom of the ROLL of the master device 110. For this purpose, a movable mounting ring 218 can be provided, associated with a fixed part 214 fixed to the operating part 220.

[0108] According to one embodiment, the master device comprises a sterile drape 240 covering the actuating part 220, which is fixed to the actuating part 220 by the mounting part 210. For this purpose, a fixed attachment ring 214 can be provided. According to one embodiment, the sterile drape 240 is interposed between the actuating part and the mounting part, preferably between the hollow body of the mounting part 210 and the actuating part 220.

[0109] According to a preferred embodiment, two opposing cover elements 241, 242 (e.g., sterile clip armor or sterile cheeks 241, 242) are attached to the control gripper 220 and secured to the control gripper 220 via the body of the sterile drape 240, forming an operating interface for the surgeon's fingers F1, F2. In other words, each sterile clip armor 241, 242 can have an attachment element 211, 212 attached to it such that the two sterile clip armors are attached to a rigid portion of the control gripper that forms the operating interface.

[0110] According to one embodiment, the fixed hollow body 214 of the mounting part 210 is made up of two separate halves 214a, 214b, each half being provided with one of two mounting elements, for example rings 211, 212. Preferably, the two separate halves are fitted with a movable part 218 or a movable ring 218, for example by means of an interlock and / or a snap fit.

[0111] As mentioned above, according to a preferred embodiment, the second operating part 220, e.g., the control gripper 220, comprises two opposing operating surfaces 221, 222 intended to be operated by the surgeon's fingers F1, F2. Preferably, the two opposing operating surfaces 221, 222 are convex. According to a preferred embodiment, the two opposing operating surfaces 221, 222 are convex around the longitudinal axis XX and substantially cylindrical relative to the same longitudinal axis XX. Thus, when the control gripper is in the closed position, the internal degree of freedom (ROLL) of the mounting part 210 (if provided) can be utilized to facilitate rotation of the operating part between the surgeon's fingers.

[0112] The two opposing operation surfaces 221, 222 of the operation unit are preferably movable relative to each other in an open / closed state (OPEN / CLOSE) to command the open / close degree of freedom (OPEN / CLOSE) of the slave of the slave device 170. For this purpose, sensors can be integrally attached. As described above, in one embodiment, the second operation unit 220 comprises one or more sensors for determining at least one of the position of the master device, the orientation of the master device, and the open / closed degree (OPEN / CLOSE) of the master device. The tracking sensors 223, 224 can perform the open / close operation integrally with the operation surfaces 221, 222 of the operation unit 220 of the master device.

[0113] In one embodiment, the control gripper has two rigid parts 231, 232 with respective operating surfaces 221, 222, which are constrained to rotate about a common axis by a joint 230, which is preferably elastically preloaded in the open configuration.

[0114] According to a preferred embodiment, the internal degrees of freedom of the master device 110 allow the attached elements, such as the rings 211, 212, to rotate relative to the control gripper operating surfaces 221, 222, thus avoiding sending commands to the slave device itself. Indeed, tracking sensors are provided only on the operating part 220, i.e. on the control gripper 220, as mentioned above.

[0115] Each ring 211 or 212 of the first mounting part can be turned independently of the other ring 212 or 211. For example, one or more joints 217 are provided between the mounting elements of the mounting part 210, e.g., the rings 211, 212. At least one joint is provided between the movable body 218 and each ring 211, 212, e.g., along the longitudinal extension of each arm 215, 216.

[0116] For example, as shown in FIG. 4, the mounting elements 211, 212 may be two mounting rings articulated to the body 214 by a revolute joint 217 located on each arm 215, 216.

[0117] For example, as shown in FIG. 5, the control gripper 220 may comprise two rigid portions 231, 232, each associated with a tracking sensor 223, 224 with six degrees of freedom (position and orientation), with a rotary joint 230 provided between the rigid portions, and each rigid portion of the control gripper having an operating surface 221, 222 adjacent to or on a respective mounting ring 211, 212.

[0118]

[0148] For example, as shown in FIGS. 6A and 6B, the mounting portion 210 can be mounted on a sterile drape 240 that covers the operating portion 220.

[0119] For example, as shown in Figures 7A and 7B, the mounting portion 210 is formed by two halves 214a, 214b, in particular, the two halves that together form a fixed hollow body 214 that is mounted on the operating portion 220, and these two halves are assembled on a sterile drape 240 to cover the operating portion 220.

[0120] For example, as shown in Figure 8A, sterile accessories 241, 242 or cheeks 241, 242 may be provided, which are coupled to respective rigid portions 231, 232 of control gripper 220, for example via a sterile drape 240, to operate master device 110 in a sterile environment. Such sterile accessories 241, 242, together with their back portions, may form operating surfaces 221, 222 of the operating portion.

[0121] 8B, the mounting part 210 and the operating part 220 can be assembled by the following steps: (i) closing the control gripper 220 and bringing the operating surfaces 221 and 222 closer to each other; (ii) attaching the hollow body 214 of the mounting part 210 to the operating part 220 from the part of the operating part that includes the free ends of each rigid part;

[0152] For example, as shown in Figures 10-A and 10-B, the arms 215, 216 of the attachment are preferably elastic strings.

[0122] For example, as shown in FIGS. 11A, 11B, and 11C, in the open state (arrow θ), the arms 215, 216 of the wearable part are movable relative to the respective operating surfaces 221, 222 of the control gripper 220, i.e., away from the longitudinal axis XX, i.e., away from the respective rigid portions 231, 232 of the control gripper 220, and are also movable to ROLL about the longitudinal axis XX or about the respective rigid portions of the control gripper.

[0123] For example, as shown in Figures 12-A and 12-B, the attachment elements 211, 212 are rings that are securely attached to the surgeon's fingers F1, F2, allowing the surgeon to roll the attachment elements relative to the respective operating surfaces 221, 222 of the surgical section 220.

[0124] For example, as shown in FIGS. 13A, 13B, and 13C, the mounting portion 210 is comprised of two separate attachable halves 210′, 210″ (e.g., a right attachable half 210′ ​​and a left attachable half 210″), each of which is connected (e.g., secured) to a respective rigid portion 231, 232 of the operating portion 220 by providing a securing clip 218. In one embodiment, the securing clip 218 of each separate attachable half 210′, 210″ forms a respective operating surface 221, 222 and functions as a sterilization accessory 241, 242.

[0125] 14, the attachable half 210′, 210″ may include arms 215, 215, two joints 217 (e.g., hinges), and a fixing clip 218 for fixing to an operating part 220. Further, an operating surface 221 may be provided on the fixing clip 218.

[0126] For example, as shown in FIG. 15, the pivot joint 250 of the roll ROLL can be an internal degree of freedom of the mounting part 210, in particular of the hollow body 214 of the mounting part, so that the mounting elements 211, 212 rotate simultaneously and in unison about the longitudinal axis XX.

[0127] 16A and 16B, a sterilization accessory 241 can be provided, comprising an arm 215 and an attachment element 211 coupled to a sensed rigid portion 231 of a control gripper 220, the arm 215 enabling reorientation and repositioning of the attachment element relative to the operating surface 221 and the sensor 223, i.e., the rigid portion 231 of the control gripper.

[0128] For example, as shown in Figure 17, the arm 215 may be provided with a rotation joint (hinge), which allows the orientation of the attachment element 211 relative to the respective rigid part 231 of the control gripper to be changed.

[0129] For example, as shown in FIG. 18, the arm 215 can be made in the form of a joint, for example a ball joint, interposed between the sterilization accessory 241 and the respective attachment element 211 .

[0130] With reference to the above-described embodiments, further examples and details of the embodiments are provided below.

[0131] In one embodiment, the pair of attachment elements 211, 212 are comprised of elongated elongated portions 215, 216, or arms 215, 216, or connecting elements 215, 216, that are coupled or constrained to the manipulation portion 220. In one embodiment, such elongated elongated portions 215, 216 are flexible or resilient to follow the relative movement between the fingers, attachment elements 210, and control gripper 220.

[0132] According to one embodiment, the mounting elements 211, 212 are each connected to or referenced to either two rods 231, 232 or rigid parts 231, 232 of the control gripper 220 and receive two opposing fingers F1, F2 for moving, manipulating and opening / closing OP / CL of the control gripper 220.

[0133] According to one embodiment, the attachment elements 211, 212 are made of an elastic material that can be deformed even with a weak external force, or a flexible string or an articulated mechanical part / chain. According to a preferred embodiment, the attachment elements 211, 212 have one or more degrees of freedom relative to the rigid parts 231, 232 of the control gripper 220, which allows for relative movement and safe operation when gripping the sensed control gripper.

[0134] According to one embodiment, at least one internal orientation degree of freedom of the master device 110 includes a roll degree of freedom ROLL that allows rotation of each mounting element 211, 212 around the respective rigid portion 231, 232 of the actuation portion 220. For example, each rigid portion 231, 232 can define an extension direction that coincides with the longitudinal direction XX when, in the closed state of the actuation portion 220, each mounting element 211, 212 is movable in at least a roll direction relative to the extension axis of that rigid portion 231, 232.

[0135] According to one embodiment, the wearable elements 211, 212 are elastic rings with a diameter the same as or smaller than a human finger, which constrain the finger but whose elasticity and deformability allow the finger to move relative to the control while the ring remains constrained to the finger.

[0136] According to one embodiment, the attachment elements (e.g., rings) of the pair of attachment elements 211, 212 are rigid attachment elements (e.g., rings) having a diameter larger than a human finger, and the finger can slide along the surface relative to the operating portion while the ring remains in contact with the finger.

[0137] According to one embodiment, the attachment portion (e.g., ring) of the pair of attachment elements 211, 212 is a part of the attachment element, for example, an elastic or rigid ring, that allows the finger to not only be inserted from above (i.e., approaching the element from the proximal side) or through (i.e., approaching the element laterally), but also allows the finger to slide along the edge of the ring or deform the shape of the partial ring upon relative movement between the hand, finger, part of the attachment element (e.g., ring) and operating portion 220.

[0138] According to one embodiment, the attachment elements 211, 212 are concave rigid flaps mounted on a rotary or ball joint relative to the operating portion 220, on which the fingertips rest and which can move relative to each other.

[0139] According to one embodiment, the attachment elements 211, 212 may be directly connected to the rigid rods 231, 232, for example at the distal regions near the free ends of the rigid rods 231, 232.

[0140] According to one embodiment, the mounting elements 211, 212 have connecting elements 215, 216 or arms extending from portions connected to the rigid portions 231, 232 of the control grippers, such connecting elements being elongated, flexible and / or resilient to accommodate relative movement between the mounting portion and the sensed portion.

[0141] According to one embodiment, the elongate elements are connected in their proximal regions to the respective rigid portions 231, 232 and extend free in the distal direction via elastic, flexible or articulating elements to accommodate relative movement between the mounting and the actuation portion. For example, in one such embodiment, the elongate elements have a flexible mounting, such as a ring, at their free ends.

[0142] According to one embodiment, there are three degrees of freedom of relative orientation (RPY: roll, pitch, and yaw) between the actuation unit 220 and the mounting unit 210. In other words, three degrees of freedom of relative orientation are provided between the mounting unit 210 and the actuation unit 220. Preferably, each of the three degrees of freedom of orientation allows a relative angular movement of 90° or less, preferably less than 90°. In one embodiment, the relative angular movement is 60° or less. In one embodiment, there are also one or more relative degrees of freedom of translation between the mounting unit 210 and the manipulation unit 220. In one embodiment, such relative angular movement between the manipulation unit 220 and the mounting unit 210 is limited to an angular displacement of 90° or less, preferably less than 90°. In one embodiment, the relative angular movement is 60° or less.

[0143] In one embodiment, such angular movement between the control gripper and the mounting occurs between each mounting ring and the longitudinal extension axis of the respective rigid portion 231, 232 or rod.

[0144] In one embodiment, the angular motion between the handling unit 220 and the mounting unit occurs with respect to a common axis XX, i.e., the overall roll axis ROLL of the entire master device 110. In one embodiment, in the mounting unit (e.g., a ring), there is only one degree of freedom between the handling unit and the mounting unit, which is the degree of freedom of the ROLL, i.e., rotation about the longitudinal axis XX.

[0145] In one embodiment, both degrees of freedom of movement and orientation are allowed between the mounting portion and the sensing portion.

[0146] According to one embodiment, the sensing portion is covered with a sterile canvas or drape 240 to maintain the sterility of the user's or surgeon's hands. In this scenario, an embodiment is possible in which all of the attachment elements, as shown above, are connected to the connection elements 214, 228, which are integrally connected to the master via the drape. According to one embodiment, the presence of connection elements to connect to the master with or without the drape allows the user the freedom to choose their preferred or customized attachment components and allows for operation in a sterile environment close to the operating table or in a remote, non-sterile environment. According to one embodiment, the attachment elements have connection elements 214, 228 to the draped master to be sensed, i.e., the control gripper 220 and / or the rigid elements 231, 232 or rods of the control gripper.

[0147] In one embodiment, the attachment elements 211, 212 can be connected to clip arms 241, 242 or cheeks 241, 242, respectively, which can also be connected to rods 231, 232 via a sterile drape 240 that partially or completely covers the operating portion 220. For example, the connection can be a press fit, a snap fit, or a geometric connection. Preferably, each clip arm 241, 242 is connected to one of the two rods or rigid portions 231, 232 of the control gripper.

[0148] In one embodiment, the attachment elements 211, 212 are detachable from the control gripper both when draped and when undraped.

[0149] In one embodiment, the attachment element is one piece.

[0150] According to a general embodiment, a robotic system 100 for teleoperation of medical and / or surgical procedures comprises at least one master controller device 110 according to any of the above-described embodiments and at least one slave surgical instrument 170 operable under the control of the at least one master controller device 110.

[0151] The at least one slave surgical instrument 170 may include a slave surgical instrument described in any of the above embodiments.

[0152] Preferably, the system 100 is used for telerobotic microsurgery.

[0153] The above features, taken individually or in combination where applicable, can address the above-mentioned needs and provide, among other advantages:

[0154] - Allows the rigid part of the control gripper to be moved and / or repositioned in various directions between the fingers of the surgeon, while avoiding the risk of accidentally dropping the master device containing the control gripper.

[0155] - A degree of freedom within the master device, preferably within the mounting portion of the master device, which when actuated does not result in sending a command to the slave device, facilitates a secure and ergonomic grip by the surgeon, making the device suitable for long and laborious telesurgery sessions.

[0156] Preferably, the degrees of freedom within the master device can be realized by a rotational joint between the mounting part and each rigid part of the sensing and control gripper, by one or more elastically flexible parts, or by a coaxial rotational joint with rolling members.

[0157] Preferably, a connecting arm is provided between each ring and the respective rigid part of the control gripper, the arm being, for example, an articulated and / or elastically flexible and / or deflectable arm, similar to a lace.

[0158] The presence of a sterile drape covering the sensing portion of the master device does not prevent the use of the master device's degrees of freedom.

[0159] In particular, an arm may be provided between each attachment element and a respective sterile cheek that is connectable to a control gripper via the sterile drape body.

[0160] -While holding the wearing element in the hand, the control part can be manipulated and rotated between the fingers, while the wearing element ensures grip and movement by restraining the user's fingers / hand ("anti-drop safety").

[0161] It will be appreciated that combinations of features in the appended claims form an integral part of this specification.

[0162] Those skilled in the art can make several modifications and adaptations to the above-described embodiments and can replace elements with functionally equivalent elements without departing from the scope of the appended claims. [Explanation of symbols]

[0163] 100 Medical and / or surgical teleoperated robotic systems 110 Master Controller Device or Master Device 120 Vision System 130 Surgical Console Display 140 Surgical console with tracking device 150 Operator, user, or surgeon 160 Robot Manipulator 170 Slave Device or Slave Surgical Instrument 210 Master device attachment point 211 First attachment element or ring 212 Second attachment element or ring 213 Cavity 214 Fixed body or fixed body 214a First half 214b Second half 215 First Arm 216 Second Arm 217 Arm rotation joint 218 Moving parts 219 Interlocking means 220 Master device operating unit, control gripper, or detected unit 221 First operation surface 222 Second Operation Surface 223 First Sensor or Marker 224 Secondary Sensor or Marker 227 Cable connection 228 Fixed part 230 Joints between rigid components of the control gripper 231 First rigid part of control gripper 232 Second rigid part of control gripper 240 Sterile Drapes 241 First Sterile Armor or Sterile Cheek 242 Second sterile armour or sterile cheek 250 Rotating joints around the gripper, etc. XX Longitudinal common axis OPEN / CLOSE Freedom to open and close slave devices OP / CL Control Degree of freedom for the gripper to open or close, or move towards or away from the attachment element Θ Freedom of movement towards / away from the attachment element ROLL Degree of freedom of rotation around the control gripper F1, F2 Surgeon's fingers

Claims

1. A master controller device (110) for a robotic surgical teleoperation system, comprising: at least one attachment part (210) comprising a pair of attachment elements (211, 212) for the surgeon's fingers; and a sensed control gripper (220) for controlling at least one slave degree of freedom of a slave surgical instrument (170) connectable to said master controller device (110), comprising two movable rigid parts (231, 232); Equipped with The master controller device (110) comprises at least one orientation degree of freedom that allows at least one of the pair of mounting elements (211, 212) to be reoriented relative to the control gripper (220).

2. 2. The device of claim 1, wherein at least one degree of orientation freedom allows both of the pair of attachment elements (211, 212) to be reoriented relative to the control gripper (220), and preferably at least one degree of orientation freedom allows each of the pair of attachment elements (211, 212) to be reoriented individually.

3. 3. The device of claim 1 or 2, wherein at least one degree of orientation freedom allows at least one of the pair of mounting elements (211, 212) to be repositioned relative to the control gripper (220), and preferably the at least one degree of orientation freedom includes a degree of freedom for repositioning, such as translationally moving, at least one of the pair of mounting elements (211, 212) relative to the control gripper (220).

4. 4. The device of claim 1, wherein at least one orientation degree of freedom includes a degree of freedom for rotating the attachment element (211, 212) around the control gripper (220).

5. 5. The device of claim 1, wherein at least one orientation degree of freedom includes a degree of freedom for individually rotating each of the attachment elements (211, 212) around the respective rigid portion (231, 232) of the control gripper (220).

6. A device as described in any one of claims 1 to 5, wherein at least one degree of orientation freedom includes a degree of freedom of movement to move at least one of the pair of attachment elements (211, 212) closer to / away from the control gripper (220), and preferably each of the attachment elements (211, 212) is individually movable to move closer to / away from the respective rigid portion (231, 232) of the control gripper.

7. 7. A device according to any one of claims 1 to 6, wherein at least one orientational degree of freedom, preferably each of three orientational degrees of freedom, allows limited angular movement of 90° or less, preferably less than 90°, more preferably 60° or less.

8. 8. The device of claim 1, further comprising at least one sterile drape (240) for covering the control gripper (220) and secured to the control gripper (220) by the mounting portion (210).

9. 9. The device according to claim 1, wherein the mounting portion (210) is formed by two separate attachable halves, e.g., sterile armors (241, 242), each of the attachable halves comprising an attachment element (211, 212) and a fixing portion that is fixed to the control gripper (220) and in particular a fixing portion that is snap-fitted to the respective rigid portion (231, 232) of the control gripper (220), the mounting element (211, 212) of each attachable half being movable according to at least one orientation degree of freedom relative to the respective fixing portion that is fixed to the control gripper (220), and preferably each of the two attachable halves or sterile armors (241, 242) comprising an operating surface (221, 222) that forms an operating interface for the fingers of a surgeon wearing the respective mounting element (211, 212) of the master controller device (110).

10. 10. The device of claim 1, wherein the mounting portion (210) comprises a pair of arms (215, 216), each arm having a pair of mounting elements (211, 212) attached thereto, the arms (215, 216) having at least one degree of freedom that enables at least one of the pair of mounting elements (211, 212) to be repositioned relative to the control gripper.

11. 11. The device according to claim 10, wherein each of the arms (215, 216) is an arm that is elastically deformable, for example in three directions in space, and is preloaded towards a predetermined positional configuration relative to the control gripper (220).

12. 12. A device as described in claim 10 or 11, wherein each of the arms (215, 216) comprises one or more joints, for example one or more rotary joints and / or ball joints, allowing both of the pair of mounting elements (211, 212) to be reoriented independently, for example one or more of the joints being elastically pre-stressed towards a predetermined positional configuration.

13. 13. The device of claim 10, 11 or 12, wherein the arms (215, 216) each comprise a rotation joint (217) for moving the pair of mounting elements (211, 212) towards / away from the control gripper (220), and preferably the rotation joints (217) of the arms (215, 216) have substantially parallel axes and are also substantially parallel to the defined rotation axis between the rigid portions (231, 232) of the control gripper (110).

14. 14. A device as claimed in any one of claims 10 to 13, wherein each of the pair of mounting elements (211, 212) is formed as a rigid annular body extending in a cantilevered manner from the respective arm (215, 216) in a direction away from the control gripper (220).

15. 15. A device according to any one of claims 10 to 14, wherein each arm (215, 216) extends along, preferably substantially parallel to, a respective rigid portion (231, 232) of the control gripper (220).

16. 16. The device of claim 15, wherein each of the arms (215, 216) is resiliently preloaded toward a positional configuration such that the pair of mounting elements (211, 212) do not contact the control gripper (220).

17. 11. The device of claim 10, wherein each of the arms (215, 216) is formed by a flexible string or rope.

18. the control gripper (220) comprises one or more optical sensors or markers for determining at least one of the position of the master controller device (110), the orientation of the master controller device (110), and the open / close degree (OP / CL) of the master controller device (110); Preferably, the control gripper (220) comprises two tracking sensors (223, 224) or optical markers for determining the position of the master controller device (110), the orientation of the master controller device (110), and the degree of opening / closing (OP / CL) of the master controller device (110); Preferably, the control gripper (220) comprises two sensors fixed respectively to the two rigid parts (231, 232) of the control gripper; and / or 18. The device according to any one of claims 1 to 17, wherein the master controller device (110) is of a type that is not restricted to an operating console.

19. - at least one device according to any one of claims 1 to 15, at least one slave surgical instrument (170) operable under the control of said control gripper (220) of at least one said master controller device (110); A teleoperated surgical robotic system (100) comprising:

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