Sensory-perceptual surgical system for robotic-assisted laparoscopic surgery

Abstract

The present invention proposes a sensory perception system for robotic-assisted laparoscopic surgery. It comprises an electrosurgical forceps coupled to a surgical tool, an electrocautery radio-frequency signal generator, and an impedance measurement circuit. The latter includes a measurement sensor for measuring a signal indicative of the intensity corresponding to the value of the contact impedance between the forceps and the patient's tissue, an oscillator, a first electrical circuit having a resistor and a voltage limiter for protecting the measurement sensor and the oscillator, and a second electronic circuit having a switch. The sensor and the oscillator are connected to the forceps by means of the surgical tool's power cable. A processor connected to the measurement circuit receives the measured signal and converts it into a force vector, whose coefficient is a function of the measured contact impedance and whose deflection angle is a function of the trajectory being followed.

Description

[Technical field]

[0001] The present invention relates generally to the field of robotic assisted surgery, and in particular to a sensory perception surgical system for robotic assisted laparoscopic surgery that allows for detection of tissue properties of a patient, in particular contact forces exerted on the tissue, through electrical impedance measurements. [Background technology]

[0002] Current robotic laparoscopic techniques allow performing interventions with high precision and offer relevant advantages in surgeries of particular complexity, e.g., in surgeries where access to the surgical site is difficult. Nevertheless, current robotic laparoscopic techniques present the drawback of the surgeon not perceiving the forces exerted on the patient's anatomical elements.

[0003] Robotic arms are used in robotic-assisted laparoscopic surgery to activate specific tools (or instruments) that allow the intervention to be carried out effectively, and to introduce and guide cameras that allow the surgical field to be viewed. These robotic arms are remotely controlled by the surgeon by means of a control panel equipped with a screen that allows the surgeon to monitor the scene. Likewise, the use of computers associated with the robotic arm control, in addition to improving surgical precision, also makes it possible to introduce controls that provide greater safety for the patient.

[0004] In recent years, there has been a great deal of effort in the field of research to be able to provide a sensory response (or sensory return) to the surgeon that compensates for the loss of touch when the intervention is a manual intervention.

[0005] US Patent Application Publication No. 2011 / 046659 describes a minimally invasive surgical tool that includes a sensor that generates a signal in response to interaction with a surgical tool, the tool further including a haptic feedback system that generates vibrations in response to the signal to provide a haptic effect.

[0006] On the other hand, US Patent No. 8,613,230 discloses a system that makes it possible to measure forces from a sensor placed on the outer part of the cannula of the surgical tool, receiving the forces in the penetration axis Z through a mechanical transmission sheath. The system described in this patent only makes it possible to perceive said forces applied to the penetration axis Z, but not the forces resulting from lateral contact.

[0007] To make it possible to perceive the applied forces and not only in the direction of the penetration axis Z, elastic elements are used that can measure three-dimensional deformations by means of interferometry using optical sensors, as in EP 2 595 587. In this case, three or four optical fibers are used that make it possible to project modulated light onto a reflector located on the elastic support, and the force vector applied to the forceps is obtained by means of an interferometer from the outer part of the cannula.

[0008] Canadian patent 2870343 presents an alternative to the use of elastic elements integrated in the cannula. For that purpose, a sensor with six degrees of freedom is used, which makes it possible to provide the forces and torques generated between the outer distal end of the tool and the end at which the tool is held by the robotic arm that supports it. The system includes a computer system that makes it possible to calculate, by means of matrix calculations, the forces to be applied to the distal end, based on the kinematics of the tool trocar assembly and on the six data pieces provided by the sensor.

[0009] WO 2016 / 153561 discloses a medical instrument comprising an elongate body having a proximal and distal end and a pair of electrodes or electrode portions (e.g., a split-tip electrode assembly). The system is configured to perform contact detection and / or ablation confirmation based on electrical measurements taken while energy of different frequencies is applied to the pair of electrodes or electrode portions. The contact sensing system and method may calibrate the network parameter measurements to compensate for hardware units in the network parameter measurement circuitry or to account for differences in the cables, instrumentation or hardware used.

[0010] US Patent No. 10,595,745 discloses an apparatus and method for measuring contact forces on a catheter. The catheter includes a proximal segment, a distal segment, and a resilient segment extending from the proximal segment to the distal segment. The distal segment includes a plurality of tip electrodes including at least three radial electrodes arranged around the circumference of the distal segment. The radial electrodes are configured to output electrical signals indicative of a contact vector of the contact force. The resilient segment includes a force sensing device configured to output electrical signals indicative of a magnitude of an axial component of the contact force, and the contact force is determined by scaling the magnitude of the axial component of the contact force by the contact vector. In this document, the measurement of the contact force is performed mechanically, not electrically as in the present invention.

[0011] US Patent Application Publication No. 2003 / 100892 discloses a robotic surgical tool including an elongated shaft having a working end and a shaft axis, and a pair of linkage arms each having a proximal end and a distal end. The proximal end is pivotally attached to the working end of the shaft for rotation about a first pitch axis to produce rotation at a first pitch. A wrist member has a proximal portion pivotally connected to a distal end of the linkage arm and rotates about a second pitch axis to produce rotation at a second pitch. An end effector is pivotally attached to a distal portion of the wrist member for rotation about the wrist axis of the wrist member to produce rotation in a distal roll. The wrist axis extends between the proximal and distal portions of the wrist member. The elongated shaft is rotatable about the shaft axis to produce rotation in the proximal roll. At approximately 90° pitch, the wrist axis is generally perpendicular to the shaft axis. The proximal roll about the shaft axis and the distal roll about the wrist axis do not overlap. The use of an articulated arm allows the end effector to be bent back in excess of a 90° pitch. The ability to manipulate the end effector at approximately a 90° pitch and bend the end effector back makes the wrist mechanism more versatile and adaptable, especially for accessing hard to reach locations with small entry points such as those including spinal, nerve or rectal surgical sites.

[0012] Another line of work, known as Vision-Based Force Sensing (VBFS), uses actual images captured by a laparoscopic camera to look at tissue deformation caused by contact with forceps.

[0013] In any case, sensory responses are not used in practice in robotic-assisted laparoscopic surgery due to the limitations of the technology, the inaccuracies of the different developed systems, or the difficulties it causes, in particular the space occupied by multi-sensorization on the tool cannula.

[0014] Therefore, a new surgical system for robotic-assisted laparoscopic surgery is needed that allows detecting the properties of a tissue / tissues and quantifying the sensory response of contact forces exerted on a tissue / tissues during a remotely performed surgical intervention. DISCLOSURE OF THEINVENTION

[0015] Description of the invention To that end, an embodiment of the present invention provides a sensory perception surgical system for robotic assisted laparoscopic surgery, the sensory perception surgical system comprising: an electrosurgical forceps coupled to a surgical tool; an impedance measurement circuit; and an electrocautery radio frequency signal generator electrically coupled to the impedance measurement circuit and operable to supply energy to the electrosurgical forceps as both monopolar and bipolar energy. The impedance measurement circuit includes a measurement sensor for measuring a signal indicative of a strength corresponding to a value of contact impedance between the electrosurgical forceps and a patient's tissue, an oscillator for providing a power signal to the measurement sensor, a first electrical circuit, and a second electronic circuit. The first electrical circuit includes one or more resistors and a voltage limiter for protecting the measurement sensor and the oscillator connected to the electrosurgical forceps by means of a power cable of the surgical tool. The second electronic circuit comprises a first switch circuit for commutating between connecting and disconnecting a power cable (or cabling) of the electrocautery radio frequency signal generator to a cable of the surgical tool, and a second switch circuit for switching between connecting and disconnecting the electrocautery radio frequency signal generator and a measurement sensor.

[0016] Likewise, the proposed system comprises at least one processor operatively connected to said electrocautery radio frequency signal generator and to said impedance measurement circuit, receiving said signal measured by said measurement sensor and converting it into a force vector, in particular whose modulus is a function of the measured contact impedance and whose deflection angle is defined by the trajectory followed by said surgical tool at the moment of contact.

[0017] The above-mentioned processor thus makes it possible to derive a vector reaction force to the operator's control, in both magnitude and direction, based on the measured magnitude of the contact impedance which varies as a function of the applied force and on monitoring the trajectory followed.

[0018] In one embodiment, the proposed system also includes a radio frequency detector having at least one capacitive or inductive sensor arranged on the aforementioned power cable for automatically switching the first and second switch circuits while supplying energy.

[0019] In one embodiment, the energy provided by the electrocautery radio frequency signal generator is monopolar, in which case the first switch circuit is formed by one relay and the second switch circuit is formed by another relay. Alternatively, if the energy provided is bipolar, the first switch circuit is formed by at least two relays and the second switch circuit is also formed by at least two relays.

[0020] The system may further include a control unit operatively connected to and comprising control elements for controlling the impedance measurement circuit and / or the electrocautery radio frequency signal generator, for example, the control elements may include pedals and / or actuators / push buttons.

[0021] The processor may be contained within a control unit or within a remote computing device and operatively connected to the control unit, the electrocautery radio frequency signal generator, and / or the impedance measurement circuitry by means of a wired or wireless connection.

[0022] In one embodiment, the electrosurgical forceps is coupled to the surgical tool using a set of pulleys and cables that allow for opening and closing of the forceps and for its mobility, at least one of the pulleys is disposed on the articulating shaft, as well as a set of pulleys disposed on three parallel shafts that are diametrically positioned relative to the body of the surgical tool and the electrosurgical forceps.

[0023] Other embodiments of the invention disclosed herein also include computer-implemented methods and / or computer program products for performing the processor-executed steps and operations described above. More particularly, the computer program product is an embodiment having a computer system readable medium including code instructions encoded therein that, when executed on at least one processor of a computer system, cause the processor to perform the operations set forth herein as embodiments of the invention.

[0024] In one embodiment, the anatomical structures surrounding the tissue / tissues are modeled based on the force vectors estimated by the processor, whereby the surfaces are modeled progressively by means of defining polygonal surfaces, e.g. triangles formed by joining adjacent contact points obtained during the operation / intervention.

[0025] The invention thus makes it possible to determine force vectors based on measurements of the magnitude of the contact impedance between the forceps and the patient's tissue and on the trajectory taken, and also makes it possible to build a three-dimensional model of the surgical environment.

[0026] One advantage provided by the present invention is the introduction of no additional sensors onto the electrosurgical forceps, which allows for the use of the same conductors that are used to perform, for example, electrocautery or electrocoagulation. [Brief description of the drawings]

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

[0028] FIG. 1 illustrates a surgical system for robotic-assisted laparoscopic surgery for detecting tissue characteristics, according to one embodiment of the present invention.

[0029] 2A-2C show schematic diagrams of different connection configurations of an electrocautery radio frequency signal generator for operation in monopolar mode (FIG. 2A) or bipolar mode (FIGS. 2B and 2C).

[0030] FIG. 3 shows in more detail the architecture of the proposed system for obtaining the contact impedance and the associated force vector, according to one embodiment of the present invention.

[0031] FIG. 4 shows another embodiment of the proposed system architecture for obtaining the contact impedance and the associated force vector.

[0032] Figures 5A and 5B show different views of an electrosurgical forceps coupled to a surgical tool. Figure 5A shows a perspective view of the distal end of the surgical tool, showing its articulation rotations G1 and G2, and the axial rotation G3 of the surgical tool assembly. Figure 5B shows the pulleys for the transmission of movements G1 and G2, and the arrangement of actuator cables that also allow opening and closing of the electrosurgical forceps via rotation G1.

[0033] 6A-6D show different views of the path of the cable that transmits energy to the electrosurgical forceps to detect contact with tissue, said path must fit with the limited space available between the different pulleys and allow for the execution of rotations G1, G2 and G3.

[0034] 7A-7C graphically illustrate calculated force vectors and triangular configurations for modeling environmental anatomy, according to one embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0035] The present invention provides a sensory-perceptual surgical system for robotic-assisted laparoscopic surgery and a method that makes it possible to obtain a sensory response of forces applied by a surgeon to a patient's tissue / tissues during a remotely performed surgical intervention based on an estimation and a delineated trajectory of the applied force vector by detecting the contact impedance with the tissue / tissues.

[0036] Referring to Figure 1, said figure shows an embodiment of the proposed system 1. In this embodiment, the system 1 comprises a robotic assistance system 100, a control unit 110, and a laparoscopic tower 120 housing an electrocautery radio frequency signal generator 300 and an impedance measurement circuit 301.

[0037] The robotic assisted system 100 comprises a robotic arm 101 that allows movement of a surgical tool 102, and a laparoscopic camera 103. The control unit 110 includes actuators / push buttons 111 and pedals 113 that allow the surgeon to operate / control the robotic assisted system 100, the electrocautery radio frequency signal generator 300, as well as the impedance measurement circuitry 301. The control unit 110 also has a display screen 112.

[0038] The electrocautery radio frequency signal generator 300 can be any standard electrocautery signal generator and is electrically connected to the impedance measurement circuit 301 by means of a power cable 314 and is operable to supply energy to an electrosurgical forceps 104 (see, for example, FIGS. 2A-2C) coupled to a surgical tool 102. The impedance measurement circuit 301 is electrically connected to the electrosurgical forceps 104 by another power cable 304. The power cable 304 is formed by two conductor cables 304a, 304b (see FIG. 6D), the path of which matches the kinematics of the electrosurgical forceps 102 and allows its movement in three rotations / axes (orientation and lifting motion, as well as opening and / or closing motion) to enable contact with tissue / tissues to be detected.

[0039] The electrocautery radio frequency signal generator 300 may be electrically monopolar, where the return circuit is the patient itself or the saline medium used (FIG. 2A), or it may be electrically bipolar, where the current flows between the terminal elements 250 (see FIGS. 5A-5B) of the electrosurgical forceps 104 (FIGS. 2B and 2C).

[0040] FIG. 2A shows a monopolar configuration. The impedance measurement circuit 301 only houses one cable, the output power cable. The input cable marked with an arrow passes outside the impedance measurement circuit 301. FIG. 2B shows a first bipolar configuration. A dual input and output cable with two polarities marked with an arrow leaves the electrocautery radio frequency signal generator 300 and passes through the impedance measurement circuit 301, where the return is returned through a conducting cannula. FIG. 2C shows a second bipolar configuration. A cable with two conductor wires leaving the electrocautery radio frequency signal generator 300 passes through the impedance measurement circuit 301 and proceeds along its inside, one for each part of the electrosurgical forceps 104.

[0041] Referring now to FIG. 3, said figure shows another embodiment of the proposed system 1, in this case comprising an electrosurgical forceps 104 coupled to a surgical tool 102 of a robotic assisted system 100, an impedance measurement circuit 301 for measuring the contact impedance with a tissue / tissue environment 303, an electrocautery radio frequency signal generator 300 and a computer system or device 311 formed by at least one processor for estimating the applied force based on the impedance measurement.

[0042] The difficulty caused by the use of the electrocautery radio frequency signal generator 300 to also be able to measure contact impedance lies in the fact that radio frequency pulses with very high voltages, about 1000-3000 volts, are used to be able to perform electrocoagulation and electrocautery. For this reason, the use or inclusion of the impedance measurement circuit 301 in the proposed system 1 makes the measurement of impedance at low voltages and currents compatible with high electrocoagulation and electrocautery energies at high voltages.

[0043] In order to achieve the above-mentioned compatibility, the impedance measurement circuit 301 comprises an electronic module equipped with a measurement sensor 310, in particular a low-voltage measurement sensor, for measuring a magnitude corresponding to the value of the contact impedance, and two switch circuits 305, 306 for connecting / disconnecting the power cable 314 to the power cable 304 and for connecting / disconnecting the electrocautery radio frequency signal generator 300 and the measurement sensor 310, respectively.

[0044] Similarly, the impedance measurement circuit 301 also includes an oscillator 209 that allows the impedance to be measured without applying any current to the patient, which current is a continuous component, no matter how weak it may be. The oscillator 209 provides a signal having a low voltage, e.g., 6V, and a medium frequency, e.g., 20KHz, which is applied in a monopolar or bipolar manner to the surgical tool 102 through a second switch circuit 306, the contacts of which remain normally closed. Said low voltage is not normally applied to the electrocautery radio frequency signal generator 300, since the contacts of the first switch circuit 305 are normally open.

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

[0046] During the operation (or action), when the surgeon applies energy for performing electrocoagulation or electrocautery, the contacts of the relay A1 or relays A1, A2 of the first switch circuit 305 must be closed, and at the same time the contacts of the relay B1 or relays B1, B2 of the second switch circuit 306 must be opened. For that purpose, the system 1 also includes, in particular, a radio frequency detector 313 with a capacitive or inductive sensor 312 on the power cable 314, which allows to automatically switch the first and second switch circuits 305, 306 while the energy is being applied. Alternatively, this function may be performed by introducing an actuation signal of the pedal 113 connected to the electrocautery radio frequency signal generator 300.

[0047] In the example of FIG. 3, the system 1 is especially protected by a resistor 307 and a voltage limiter 308 to prevent damage to the electrocautery radio frequency signal generator 300 and / or the impedance measurement circuit 301, for example as a result of relay switching surges.

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

[0049] 4 shows another embodiment of the proposed system 1. In this case, the system 1 is formed by an electrosurgical forceps 104 coupled to a surgical tool 102, an impedance measurement circuit 301 for measuring the contact impedance with a tissue / tissue environment 303, and a computer system or device 311 with at least one processor. The impedance measurement circuit 301 includes a measurement sensor 310, an oscillator 309 and an electronic circuit formed by a resistor 307 and a voltage limiter 308. Thus, compatibility with high external voltages such as when using an electrocautery radio frequency signal generator 300 is allowed.

[0050] Each surgical tool 102 (see Figures 5A and 5B) consists of a cannula 201 supporting a first articulation element or body 202 capable of performing a rotation G1 relative to the end of the cannula 201 about a shaft 204 actuated by a drum 207. The body 202 supports a terminal element 250 of the electrosurgical forceps 104, the orientation of which can be changed by performing a rotation G2 relative to the body 202 about a shaft 206 actuated by means of drums 208 and 209.

[0051] Likewise, the cables C1a, C1b, C2, C3, C4 and C5 and the set of pulleys 210, 211, 212, 213, 220, 221, 222, 223, 230, 231 are adapted to transmit the movement from the drive means to which each surgical tool 102 is connected and to perform a rotation G1 around the shaft 204, with mechanical complications that preclude the introduction of the electric cables 304a and 304b. This mechanical complexity is very important since the conductors for measuring the impedance must share the smaller available space with the two cables C1a and C1b that transmit the rotational movement G1 to the drum 207 and the four cables C2, C3, C4 and C5 that transmit the orientation and opening and closing of the electrosurgical forceps 104 by means of the drums 208 and 209 (FIG. 5B).

[0052] To enable the rotation G1, the above-mentioned sets of pulleys 210, 211, 212, 213, 220, 221, 222, 223, 230, 231 are used, where at least one, and preferably all, of said pulleys are arranged on their articulation shafts (FIG. 6A). In particular, the sets of pulleys are arranged for the four cables C2, C3, C4 and C5 that move the electrosurgical forceps 104, which are attached to three parallel shafts 203, 204 and 205 in diametrical position relative to the cannula 201 and the body 202, as can be seen in FIG. 6B (FIG. 5B). The central shaft 204 joins the cannula 201 and the body 202, makes it possible to perform the rotation G1, and supports four pulleys 220, 221, 222 and 223 joining two pairs of antagonist cables that transmit the movement of the forceps, while the two shafts 203 and 205 support associated pulleys.

[0053] This arrangement of pulleys on three successive shafts for each cable that must pass through joint G1 offers clear advantages over the other embodiments, considering that in addition to allowing the creation of a guided cable passage between successive pulleys, as is the case for pulleys 210 and 220 creating passage 214 (see FIG. 5C), and constituting a reliable guide for the movement of each cable, the two free spaces created on pulleys 230 and 231 allow the passage of the necessary electrical cables 304a and 304b and make it possible to measure the impedance.

[0054] The fact that all pulleys are located on the mid-plane of the cannula 201 and the body 202 allows the pulleys to have the largest possible diameter without exceeding the maximum gauge of the cannula 201. Similarly, with 4+4+2 pulleys required for the transmission of motion, with the largest possible diameter, the invention allows the curvature radius of the different cables on the pulleys to be reduced, improving the durability and reliability of the surgical tool 102. The electrical cables 304a and 304b passing through the free space on the pulley 230 are integral with the cables C2 and C3, ensuring that they do not support any mechanical forces when deflection of the electrosurgical forceps 104 on the axis G2 occurs (FIG. 6D).

[0055] An embodiment of the present invention also provides a sensory perception method to estimate or calculate the reaction force vector that must be perceived by the surgeon or operator in the control unit 110 through the push button / actuator 111 and / or pedal 113 based on the acquired impedance value / magnitude.

[0056] 7A-7C graphically illustrate the aforementioned example. Assuming there is no force sensor on the surgical tool 102 that allows direct measurement of the contact force 410 (FIG. 7A), it is indirectly estimated by the processor 311 as a force vector. The force vector 411 is estimated as a reflected vector of the contact force 410, whose modulus is equal to that of the contact force 410 and whose deflection angle is defined by being on the same plane 416, which is defined by two passing points 414 and 415 in front of the perceived contact point, the normal 412 of the contact surface 413, and the reflection angle 418 which is equal to the incidence angle 417.

[0057] The contact surface 413, which allows to perform positioning calculations in the space of reflection vectors, is unknown. The proposed method therefore obtains an approximation of the configuration of the surfaces of the anatomical elements of the environment by performing a modeling 400 in three-dimensional space. For this purpose, the method comprises a step of generating a triangulation 402 from the contact points 404 perceived throughout the operation (or movement) by combining them (i.e. generating a series of triangles 403). Each new perceived contact point 404 (FIG. 9C) causes the triangle 403 to be decomposed into new triangles 405 and 406. In this way, the environmental modeling resolution is gradually increased, which allows to obtain the deflection angle of the force vector 411 that is applied as a reaction force to the control of the control unit 110 and generates a perceptual response to the surgeon / operator.

[0058] The proposed invention can be implemented in hardware, software, firmware, or any combination thereof. If it is implemented in software, the functions may be stored or coded as one or more instructions or code in a computer-readable medium.

[0059] The scope of the present invention is defined in the appended claims. The following is an invention described at the beginning of the present application. <Claim 1> an electrosurgical forceps (104) coupled to the surgical tool (102); an electrosurgical radio frequency signal generator (300) electrically coupled to an impedance measurement circuit (301) and operable to supply energy to the electrosurgical forceps (104), the impedance measurement circuit (301) comprising: a measurement sensor (310) configured to measure a signal indicative of an intensity corresponding to a value of contact impedance between the electrosurgical forceps (104) and a patient's tissue; an oscillator (309) configured to provide a power signal to the measurement sensor (310); a first electrical circuit comprising one or more resistors (307) and a voltage limiter (308) for protecting the measurement sensor (310) and the oscillator (309), the measurement sensor (310) and the oscillator (309) being connected to the electrosurgical forceps (104) by a power cable (304) of the surgical tool (102); a second electronic circuit having a first switch circuit (305) for switching between connecting and disconnecting a power cable (314) of the electrocautery radio frequency signal generator (300) to the power cable (304) of the surgical tool (102) and a second switch circuit (306) for switching between connecting and disconnecting the electrocautery radio frequency signal generator (300) and a measurement sensor (310); The electrocautery radio frequency signal generator (300) comprises: a processor (311) operatively connected to the impedance measurement circuit (301) for receiving the signal measured by the measurement sensor (310) and converting it into a force vector, the coefficients of the vector being a function of the contact impedance and the deflection angle of the vector being defined by the trajectory followed by the surgical tool (102) at the moment of contact; A sensory perception surgical system for robotic assisted laparoscopic surgery including: <Claim 2> 2. The system of claim 1, further comprising a radio frequency detector (313) disposed on the power cable (314) and including at least one capacitive or inductive sensor (312) for automatically switching the first and second switch circuits (305, 306) while supplying energy. <Claim 3> 3. The system of claim 1 or 2, wherein the electrocautery radio frequency signal generator (300) is configured to deliver the energy as both monopolar and bipolar energy. <Claim 4> 3. The system of claim 1 or 2, wherein the supplied energy is monopolar, and the first switch circuit (305) and the second switch circuit (306) each include a relay (A1, B1). <Claim 5> 3. The system of claim 1 or 2, wherein the supplied energy is bipolar, and the first switch circuit (305) and the second switch circuit (306) each include at least two relays (A1, A2, B1, B2). <Claim 6> 2. The system of claim 1, further comprising a control unit (110) including control elements (111, 113) operably coupled to the impedance measurement circuit (301) and the electrocautery radio frequency signal generator (300) for control thereof. <Claim 7> The system of claim 6, wherein the control elements include pedals (113) and / or actuators / push buttons (111). <Claim 8> The system according to claim 6 or 7, wherein the processor (311) is included in the control unit (110). <Claim 9> 2. The system of claim 1, wherein the electrosurgical forceps (104) is coupled to the surgical tool (102) using a set of pulleys (210, 211, 212, 213, 220, 221, 222, 223, 223, 230, 231) and cables (C1a, C1b, C2, C3, C4 and C5) that enable opening and closing of the electrosurgical forceps (104) and its mobility, and at least one of the pulleys (210, 211, 212, 213, 220, 221, 222, 223, 230, 231) is disposed on its articulated shaft. <Claim 10> 10. The system of claim 9, wherein the sets of pulleys (210, 211, 212, 213, 220, 221, 222, 223, 230, 231) are arranged on three parallel shafts (203, 204, 205) diametrically positioned relative to the surgical tool (102) and relative to a body (202) of the electrosurgical forceps (104). <Claim 11> 1. A sensory perception surgical system comprising: an electrosurgical forceps (104) coupled to a surgical tool (102); an impedance measurement circuit (301); and an electrocautery radio frequency signal generator (300) electrically coupled to the impedance measurement circuit (301) and operable to supply energy to the electrosurgical forceps (104), the impedance measurement circuit (301) including a measurement sensor (310), an oscillator (309), a first electrical circuit comprising one or more resistors (307) and a voltage limiter (308), and a second electronic circuit comprising a first switch circuit (305) and a second switch circuit (306), - receiving a signal indicative of a magnitude corresponding to a value of contact impedance between said electrosurgical forceps (104) and a patient's tissue, measured by a measurement sensor (310); - converting the received signal into a force vector, the coefficient of said vector being a function of said contact impedance and the deflection angle of said vector being defined by the trajectory followed by said surgical tool (102) at the moment of contact; A non-transitory computer readable medium comprising program code instructions implementing a method for estimating a reaction force vector perceived by a control unit of the sensory perception surgical system.

Claims

1. an electrosurgical forceps (104) coupled to the surgical tool (102); an electrocautery radio frequency signal generator (300) electrically coupled to an impedance measurement circuit (301) and operable to supply energy to the electrosurgical forceps (104), the impedance measurement circuit (301) comprising: a measurement sensor (310) configured to measure a signal indicative of an intensity corresponding to a value of contact impedance between the electrosurgical forceps (104) and a patient's tissue; an oscillator (309) configured to provide a power signal to the measurement sensor (310); a first electrical circuit comprising one or more resistors (307) and a voltage limiter (308) for protecting the measurement sensor (310) and the oscillator (309), the measurement sensor (310) and the oscillator (309) being connected to the electrosurgical forceps (104) by a power cable (304) of the surgical tool (102); a second electronic circuit having a first switch circuit (305) for switching between connecting and disconnecting a power cable (314) of the electrocautery radio frequency signal generator (300) to the power cable (304) of the surgical tool (102) and a second switch circuit (306) for switching between connecting and disconnecting the electrocautery radio frequency signal generator (300) and a measurement sensor (310); The electrocautery radio frequency signal generator (300) comprises: a radio frequency detector (313) arranged on the power cable (314) and including at least one capacitive or inductive sensor (312) for automatically switching the first and second switch circuits (305, 306) while supplying energy; a processor (311) operatively connected to the impedance measurement circuit (301), for receiving the signals measured by the measurement sensor (310) and for calculating a force vector using the received signals, the force vector being estimated as a reflected vector of the received signals, the coefficient of the vector being a function of the contact impedance and the deflection angle of the vector being defined by the trajectory followed by the surgical tool (102) at the moment of contact, the processor (311) A sensory perception surgical system for robotic assisted laparoscopic surgery including:

2. The system of claim 1 , wherein the electrocautery radio frequency signal generator (300) is configured to deliver the energy as both monopolar and bipolar energy.

3. 2. The system of claim 1, wherein the supplied energy is monopolar, and the first switch circuit (305) and the second switch circuit (306) each include a relay (A1, B1).

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

5. 2. The system of claim 1, further comprising a control unit (110) including control elements (111, 113) operably coupled to the impedance measurement circuit (301) and the electrocautery radio frequency signal generator (300) for control thereof.

6. The system of claim 5 , wherein the control elements include pedals (113) and / or actuators / push buttons (111).

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

8. 2. The system of claim 1, wherein the electrosurgical forceps (104) is coupled to the surgical tool (102) using a set of pulleys (210, 211, 212, 213, 220, 221, 222, 223, 223, 230, 231) and cables (C1a, C1b, C2, C3, C4 and C5) that enable opening and closing of the electrosurgical forceps (104) and its mobility, and at least one of the pulleys (210, 211, 212, 213, 220, 221, 222, 223, 230, 231) is disposed on its articulated shaft.

9. 9. The system of claim 8, wherein the sets of pulleys (210, 211, 212, 213, 220, 221, 222, 223, 230, 231) are arranged on three parallel shafts (203, 204, 205) diametrically positioned relative to the surgical tool (102) and relative to the body (202) of the electrosurgical forceps (104).

10. A non-transitory computer readable medium containing program code instructions, comprising: The code instructions, when executed by a processing unit of a sensory perception surgical system, comprising an electrosurgical forceps (104) coupled to a surgical tool (102), an impedance measurement circuit (301), an electrocautery radio frequency signal generator (300) electrically coupled to the impedance measurement circuit (301) and operable to supply energy to the electrosurgical forceps (104), and a radio frequency detector (313) including at least one capacitive or inductive sensor (312), wherein the impedance measurement circuit (301) includes a measurement sensor (310), an oscillator (309), a first electrical circuit comprising one or more resistors (307) and a voltage limiter (308), and a second electronic circuit comprising a first switch circuit (305) and a second switch circuit (306), - receiving a signal indicative of an intensity corresponding to a value of the contact impedance between said electrosurgical forceps (104) and the tissue of a patient, measured by a measurement sensor (310); - calculating a force vector using the received signal, said force vector being estimated as a reflected vector of said received signal, the coefficient of said vector being a function of said contact impedance and the deflection angle of said vector being defined by the trajectory followed by said surgical tool (102) at the moment of contact; The non-transitory computer readable medium implementing a method for estimating a reaction force vector perceived by a control unit of the sensory perception surgical system.

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