Sterile manipulation interface with elastic joint for master control device for surgical teleoperation

Abstract

Master control device (110) for surgical or microsurgical teleoperation comprising a control gripper (112) operable to open / close (M) and a sterile barrier covering the control gripper; wherein the control gripper comprises a first elastic device (113) for elastically biasing the control gripper to open and / or close; and wherein the sterile barrier of the master control device comprises at least one sterile manipulation interface (206, 207) mounted to the control gripper (112) for manipulating the control gripper to open / close; and wherein the at least one sterile manipulation interface includes a second elastic element (220) for elastically biasing the control gripper to open and / or close.

Description

“Sterile manipulation interface with elastic joint for master control device for surgical teleoperation”DESCRIPTION

[0001] . F ield of the invention

[0002] . The present invention relates to a master control device.

[0003] . The master control device according to the invention is designed for a robotic surgical or microsurgical teleoperation system, as well as for a related simulator.

[0004] . The master control device according to the invention is particularly suitable, although not uniquely intended, for use as a control device of the type not mechanically constrained in a sterile environment.[0051. Background art

[0006] . Robotic surgery apparatuses are generally known in the art and typically comprise a central robotic tower or a cart and one or more robotic arms extending from the tower / cart. Each arm comprises a motorized robotic manipulator for moving a surgical instrument distally attachable thereto, in order to perform surgical procedures on a patient. Typically, the "slave" su rgical instrument has a distal articulation of orientation and grip which is robotically controlled by the manipulator by means of a mechanical connection and transmission interface.

[0007] . In order to control the robotic manipulator and thus the slave surgical instrument, the surgeon acts on one or more master control devices, according to a master-slave teleoperation architecture.

[0008] . In known master devices, buttons are typically provided to transmit control signals to the slave surgical instrument.

[0009] . Other known master devices include articulated structures to support the manipulated part, which are adapted to record or detect movements in space (translations) of such a manipulated part in space. In some prior art examples, the right and left master devices are each provided to be mounted to an attachment of the operating console and supported by a gimbal system adapted to detect the orientation inputs.

[0010] . Otherwise, master devices of the type mechanically / kinematically not constrained to the operating console ("groundless" or "unconstrained" according to the jargon adopted in this field) are known, i.e., of the "steering wheel-type", which is manipulated by the surgeon in a predeterminable three- dimensional tracking volume. Such ungrounded “steering wheel” master devices can be suitable for monolateral teleoperation without force feedback.

[0011] . Ungrounded master devices are usually equipped with sensors, such as inertial platforms and / or position and / or orientation sensors, such as magnetometers and / or optical markers, to cause the command to be transmitted to the slave surgical instrument.

[0012] . In some known examples, a magnetic field emitter is provided, which generates a tracking volume in which the position and orientation of two magnetometer-type sensors with six degrees of freedom provided on the body of the master device are tracked, so as to provide closing command signals to the slave device when the detected distance between the sensors is less thana certain threshold.

[0013] . Where the surgical instrument is provided with an open / close (grip) degree of freedom, i.e., gripping / cutting, the master device usually comprises an interface to allow the surgeon to operate such an open / close degree of freedom only with his / her fingers.

[0014] . In some known examples, the master control device is in the form of a control gripper comprising an elastic element mounted to the gripper which tends to keep the gripper itself open, which acts as a control interface for controlling the open / close (grip) degree of freedom of the surgical instrument. The elastic element is for example a torsional spring provided on the gripper joint.

[0015] . As shown for example in the prior art document WO-2019-220407 to the same Applicant, a further elastic element can be included, in the specific case a pre-loaded trigger in cantilevered position between the two rigid rods of the master control gripper. The provision of the further elastic element between the rods of the control gripper is capable of stiffening the rods’ resistance to closing when the opening / closing angle between the rods of the master device is less than a certain predeterminable threshold, creating a sort of mechanism adapted to provide tactile feedback to the surgeon as well as to counteract the complete closing of the master control gripper.

[0016] . Other examples of a master control device with differentiated rigidity in closing are also disclosed by the prior art document US-6594552, in which embodiments of master devices of the type constrained to the operating consoleare shown.

[0017] . The known solutions of a master device, whether of the type not constrained to the operating console or of the constrained type, as mentioned above, although partially advantageous in some respects, are not at all without drawbacks.

[0018] . In particular, the constrained master control gripper is not intended for manipulation in a sterile environment, such as near the operating field. The arrangement of the surgeon's station in the sterile field facing the operating field can still be advantageous in microsurgery and other clinical applications.

[0019] . The prior art document US-2023-0114346 to the same Applicant shows a master control device solution adapted to be manipulated in a sterile environment by the surgeon and for this purpose fitted with a sterile drape to protect the master control gripper with the elastic element and sensorized parts thereof, in which sterile accessories are mounted on the sterile drape in the same manner as manipulation cheeks to assist the surgeon's fingers in manipulating the master control gripper even in a sterile environment. In order to secure the sterile manipulation accessories to the master control gripper through the body of the sterile drape, snap coupling teeth were suggested. In fact, coating the master control gripper with sterile surgical drape involves difficulties in manipulating the master control gripper because the surgeon's fingers tend to slide on the surface of the sterile drape.

[0020] . Therefore, the problem of providing a master control gripper for robotic surgery which is suitable for manipulation in a sterile environment, withoutimposing low operating functions, remains open.

[0021] . At the same time, the need is felt to provide, even in a sterile context, a closing and gripping feedback to the user (surgeon or microsurgeon) without complicating the design of the control gripper and without the sterile drape superimposed on the control gripper reducing or compromising the operation thereof.[0221. Solution

[0023] . It is an object of the present invention to obviate the drawbacks complained of with reference to the prior art.

[0024] . This and other objects are achieved by a device according to claim 1 , as well as by a system according to claim 15.

[0025] . Other advantageous embodiments are the subject of the dependent claims.

[0026] . According to an aspect of the invention, a master control device for surgical or microsurgical teleoperation comprises a control gripper operable to open / close and a sterile barrier covering the control gripper.

[0027] . The sterile barrier of the master control device comprises at least one sterile manipulation interface mounted to the control gripper for manipulating the control gripper to open / close. The control gripper comprises a first elastic device for elastically biasing the control gripper to open and / or close. The at least one sterile manipulation interface is associated with a second elastic device for elastically biasing the control gripper to open and / or close.

[0028] . In accordance with an embodiment, the sterile barrier of the mastercontrol device comprises two sterile manipulation interfaces - including said at least one sterile manipulation interface - and said second elastic device is arranged between the two sterile manipulation interfaces to elastically bias the control gripper to open and / or close.

[0029] . The sterile barrier preferably comprises a sterile drape, such as a surgical plastic bag or drape, and the second elastic device is arranged outside the sterile drape.

[0030] . In accordance with an embodiment, the two sterile manipulation interfaces are arranged on the control gripper facing each other, and each manipulation interface comprises an elastic element thereof extending towards the other facing manipulation interface so as to elastically load when in contact therewith. Preferably, therefore, each manipulation interface further comprises an abutment surface facing the elastic element of the other manipulation interface. The abutment surfaces are preferably exposed outside the sterile drape.

[0031] . In accordance with an embodiment, both the first elastic device of the control gripper and the second elastic device between the sterile manipulation interfaces bias the control gripper to open.

[0032] . The at least one sterile manipulation interface can comprise a snap coupling device to the control gripper, for example a coupling tooth or a coupling tab. Preferably, both the snap coupling device and the second elastic device are both made with the rigid or semi-rigid body of the respective sterile manipulation interface.

[0033] . By virtue of the suggested solutions, a master control device solution for robotic surgery or microsurgery is provided which is particularly suitable for manipulation in a sterile environment by the user (surgeon or microsurgeon) while ensuring very high ergonomics and manipulation precision.

[0034] . By virtue of the suggested solutions, it is possible to provide an elastic force to the control gripper of a master device which is substantially constant and therefore repeatable in various operating configurations.

[0035] . By virtue of the suggested solutions, it is possible to keep the body of the master control device light and hardly bulky, and meanwhile provide the user (surgeon or microsurgeon) with passive feedback, i.e., mechanical feedback with a force which persists. If necessary, it allows customizing the resistance of the grip feedback according to the user's preferences.[0361. Brief description of the figures

[0037] . Further features and advantages of the invention will become apparent from the following description of preferred embodiments, given by way of nonlimiting indication, with reference to the accompanying drawings which are briefly described below. Note that references to “an” embodiment in this disclosure do not necessarily refer to the same embodiment, and are to be understood as at least one. Moreover, for reasons of conciseness and reduction of the total number of figures, a certain figure can be used to illustrate the features of more than one embodiment, and not all the elements of the figure can be necessary for a certain embodiment.

[0038] . Figure 1 is a perspective view of a robotic system for surgical ormicrosurgical teleoperation, according to an embodiment.

[0039] . Figure 2 A pictorially shows a master control device of the type not constrained to the operating console when gripped by a surgeon, according to an embodiment.

[0040] . Figure 2 B diagrammatically shows a slave device controlled by a master control device, according to an embodiment.

[0041] . F igures 3 A and 3 B show a master control device of the type not constrained to the operating console, according to an embodiment, in some operating configurations when gripped by a surgeon.

[0042] . Figures 4 A and 4 B diagrammatically show in separate parts a master control device provided with a sterile barrier, according to some embodiments.

[0043] . Figure 5 shows an axonometric view of a master control device, according to an embodiment, provided with a sterile drape.

[0044] . Figure 6 shows an axonometric view of a sterile manipulation interface of the master control device of Figure 5.

[0045] . Figure 7 shows an axonometric view of a master control device, according to an embodiment, in which the sterile drape is not shown for clarity.

[0046] . Figure 8 shows an axonometric view of a detail of a master control device comprising two sterile manipulation interfaces and an elastic device therebetween, according to an embodiment, in which the sterile drape is not shown for clarity.

[0047] . F igures 9, 10 and 1 1 show a vertical elevation view of a master control device, according to an embodiment, shown in some operating configurationsin which the sterile drape is not shown for clarity.

[0048] . Figures 12 A and 12 B show a vertical elevation of a sterile manipulation interface of a master control device, according to some embodiments.

[0049] . Figure 12 C pictorially shows an axonometric view of a sterile manipulation interface of a master control device, according to an embodiment.

[0050] . Figure 13 shows a vertical elevation view of a sterile manipulation interface of a master control device, according to an embodiment.

[0051] . F igures 14 A and 14 B show a vertical elevation view of a sterile manipulation interface of a master control device, according to some embodiments.

[0052] . F igures 15 A and 15 B show a vertical elevation view of a master control device, according to some embodiments.

[0053] . Figures 16 A, 16 B, 17 and 18 diagrammatically show an axonometric view of the assembly of a sterile manipulation interface and a control gripper of a master device, according to some embodiments.

[0054] . Figure 19 pictorially shows a vertical elevation view of a master control device of the type constrained to the operating console, according to an embodiment.

[0055] . Figure 20 is an axonometric view of a master control device, according to an embodiment.[0561. Detailed description of some embodiments

[0057] . Reference throughout this description to "an embodiment" means that a particular feature, structure or function described in relation to the embodimentis included in at least one embodiment of the present invention. Therefore, the formulation “in an embodiment” in various parts of this description do not necessarily all refer to the same embodiment. Moreover, particular features, structures or functions such as those shown in different drawings can be combined in any suitable manner in one or more embodiments.

[0058] . In accordance with a general embodiment, a master control device 1 10 for surgical or microsurgical teleoperation is provided.

[0059] . The master control device 1 10 is preferably of the type not constrained to the operating console. As shown for example in Figure 19, the master control device 1 10 is of the type constrained to the operating console, for example by means of an articulated LINKAGE thereof. This configuration can be advantageous where the master control device 1 10 of the type constrained to the operating console is placed in a sterile environment, i.e., in the operating room near the patient, for example in microsurgical robotic teleoperation.

[0060] . As shown for example in Figure 1 , the master control device 1 10 can be unconstrained to the display 130 and / or the tracking system 140 of the operating console of the robotic system 100 for surgical or microsurgical teleoperation.

[0061] . In accordance with a preferred embodiment, by operating the master control device 1 10, an enslaved slave device 170 comprising a sterile surgical instrument mounted to a motorized robotic manipulator 160 is controlled.

[0062] . The tracking system 140 is preferably provided to map position and orientation of the master control device 1 10 for the purpose of controlling theslave device 170.

[0063] . The display 130 is preferably configured to display the operating site as from images acquired by a vision system 120.

[0064] . In accordance with a preferred embodiment, the surgical instrument of the slave device 170 comprises, as shown for example in Figure 2B, an endeffector comprising two parts 171 , 172 movable in opening / closing S under the control of the master device 1 10. For example, two links 171 , 172 or jaws 171 , 172 can be provided, mounted in a rotational joint 173 and movable to open / close to carry out gripping and / or cutting actions on surgical accessories such as needles and suture filaments as well as on tissues of a patient.

[0065] . Two right and left master devices can be provided to manipulate two right and left slave devices, and intended to be held by a surgeon or microsurgeon with his / her right and left hands, respectively.

[0066] . The master control device 1 10 comprises a control gripper 1 12 operable to open / close M and a sterile barrier 205 covering the control gripper 1 12.

[0067] . The control gripper 1 12 comprises a first elastic device 1 13 for elastically biasing the control gripper to open and / or close. In accordance with an embodiment, the control gripper 1 12 comprises two rigid rods 1 14 mounted therebetween in a rotational joint which is elastically preloaded by said first elastic device 1 13. Preferably, the elastic preload of the elastic device 1 13 is aimed at keeping the control gripper 1 12 open, for example by moving the rigid rods 1 14 away. To this end, the first elastic device 1 13 can comprise a torsional spring mounted on the rotational joint of the control gripper 1 12.

[0068] . The sterile barrier 205 comprises at least one sterile manipulation interface 206 or 207 mounted to the control gripper 1 12. The at least one sterile manipulation interface 206, 207 is preferably of a shape and size to be adapted to allow the user to manipulate the control gripper 1 12 of the master device to open and / or close.

[0069] . In accordance with a preferred embodiment, the sterile barrier 205 comprises two sterile manipulation interfaces 206, 207 mounted to the control gripper 1 12 for manipulating the control gripper to open and / or close M. In particular, the provision of the sterile manipulation interfaces provides the surgeon with a positioning abutment for his / her fingers and at the same time locally reduces the slipperiness of the sterile drape 208.

[0070] . In accordance with an embodiment, the two sterile manipulation interfaces 206, 207 of the sterile barrier 205 each comprise a manipulation surface 216, 217 for the fingers F1 , F2 of the surgeon 150. The manipulation surfaces 216, 217 are preferably facing each other for closing the control gripper 1 12.

[0071] . Each sterile interface 206, 207 can comprise a cheek removably mountable to the control gripper.

[0072] . In accordance with an embodiment, a sterile manipulation interface 206, 207 can be made as a single piece. For example, each sterile interface can be made as a rigid or semi-rigid shell of molded polymeric material. Preferably, each sterile interface 206, 207 is disposable.

[0073] . In accordance with an embodiment, the two sterile manipulationinterfaces 206, 207 are formed in a single piece, i.e., in a single block, for example, a single sheet of molded polymeric material.

[0074] . The sterile barrier 205 preferably further comprises a sterile drape 208 which is arranged around the control gripper 1 12. For example, the sterile drape 208 is made of sterile surgical drape in transparent plastic.

[0075] . The at least one sterile manipulation interface 206, 207 can be made as a single piece with the sterile drape 208, as shown for example in Figure 18, meaning here also to indicate the case in which the at least one sterile manipulation interface 206, 207.

[0076] . The control gripper 1 12 with the first elastic element and sensors of the tracking system 140, where provided, is thus received inside the sterile drape 208, and the one or more manipulation interfaces 206, 207 are preferably exposed outside the outer surface of the sterile drape 208 to facilitate the manipulation of the control gripper 1 12. For example, the manipulation surfaces 216, 217 can comprise surface workings adapted to increase the friction (grip) for the fingers F1 , F2 of the surgeon 150.

[0077] . Advantageously, the at least one sterile manipulation interface is associated with a second elastic device 220.

[0078] . Preferably, the second elastic device 220 acts on the control gripper 1 12 in a manner at least partially superimposed on the action of the first elastic device 1 13 on the same control gripper 1 12. In accordance with a preferred embodiment, the degree of freedom of opening / closing M of the control gripper 1 12 is biased in opening towards an open equilibrium position of the controlgripper by the action of the first elastic device 1 12, and in which the second elastic device 220 included on the one or more sterile manipulation interfaces 206, 207 mounted to the same control gripper 1 12 also biases said control gripper 1 12 in opening, but on a portion of the angular stroke biased by the action of the first elastic device 1 13. In particular, the first elastic device 1 13, for example mounted in the joint between the rigid rods of the control gripper, can bias in opening towards an equilibrium position in which the gripper is open, for example with gripper opening angle a of about 30°-45° while the action of the second elastic device subsists on an angular stroke of 10°-20°.

[0079] . In accordance with a preferred embodiment, two sterile manipulation interfaces 206, 207 are provided and a second elastic device 220 is provided between the two manipulation interfaces 206, 207.

[0080] . The provision of the first elastic device 1 13 and the second elastic device 220 allows achieving a differentiated elastic stiffness along the stroke of the control gripper 1 12, and in particular along the stroke of relative approaching of the two rigid rods 1 14.

[0081] . As mentioned above, in fact, preferably the elastic action of the second elastic device 220 acting between the sterile interface elements 206, 207 is concordant with the elastic pre-loading action of the first elastic device 1 13 of the control gripper 1 12, i.e., they all tend to bias the control gripper in opening.

[0082] . The useful stroke of the two elastic devices 1 13 and 220 can be partially superimposed. For example, the second elastic device 220 can enter operation when the control gripper is beyond a certain closing threshold, while the firstelastic device 1 13 can always be active.

[0083] . Of course, the opening / closing stroke M of the control gripper 1 12 biased by the first and second elastic devices 1 13 and 220 is not necessarily an angular stroke and can be, for example, a linear approaching / separation stroke.

[0084] . In accordance with a preferred embodiment, the first elastic device 1 13 is arranged on the control gripper 1 12 inside the sterile drape 208, and the second elastic device 220 between the one or more sterile interface elements 206, 207 is exposed outside the sterile drape 208. Thereby, interposing the sterile drape 208 itself in the second elastic device 220 working between the sterile interface elements 206, 207 is avoided.

[0085] . It is thus possible to provide a master device 1 10 for sterile environments and thus with sterile drape 208 in which the sterile interface elements 206, 207 are provided with an elastic device 220 which works therebetween (for example moving away when under a certain distance) and which is exposed outside the sterile drape 208 as well as the manipulation surfaces 216, 217 for the fingers F1 , F2 of the surgeon are exposed outside the sterile drape 208.

[0086] . Thereby, the sterile drape which can be made as a plastic sheet is prevented from interfering with the abutments and / or the positioning of the elastic device 220 between the interface elements 206, 207, for example by creating local thicknesses due to creases or folds of the drape as well as introducing slipperiness and / or positioning uncertainty of the abutment.

[0087] . In accordance with a preferred embodiment, the two manipulation interfaces 206, 207 are arranged facing and opposite each other; and in whicheach manipulation interface 206 or 207 comprises an elastic element 221 , 222 extending towards the other manipulation interface 207 or 206. The respective elastic element 221 , 222 preferably extends cantilevered from one manipulation interface 206 to be elastically loaded when in contact with the other opposite manipulation interface 207.

[0088] . An abutment surface 223 or 224 facing the elastic element 222 or 221 of the other opposite manipulation interface can thus be provided on each manipulation interface. In particular, the abutment surfaces 223 and 224 are arranged opposite and facing the elastic elements 222 and 221 forming the second elastic device 220.

[0089] . As shown for example in Figure 15 A, the second elastic device 220 can be provided on a single manipulation interface 206 and the single abutment surface 224 on the other manipulation interface 207.

[0090] . When in operating conditions, the control gripper 1 12 is closed beyond a certain threshold, bringing the cantilevered elastic elements 221 and 222 provided on the respective sterile manipulation interfaces 206 and 207 into abutment against the facing abutment surfaces 224 and 223 thereof. Of course, the abutment surfaces 223, 224 can be provided themselves on an elastic element, for example, two facing elastic elements 221 and 222 can be included which form with the body thereof also the respective abutment surfaces, reciprocally.

[0091] . Exceeding the closing threshold of the control gripper 1 12 entails an elastic stiffening of the closing stroke of the control gripper itself, which isperceived by the surgeon. It is thus possible to provide information to the surgeon on the status of the slave device 170 by including a simple and thus reliable mechanism for preloading the gripper. The information provided to the surgeon can also be transmitted to the robotic system 100 and / or processed by it, for example, by storing the opening / closing stroke of the gripper which corresponds to the activation of said second elastic device 220. By way of example, the robotic system 100 can be configured so that such a closing elastic stiffening corresponds to a predeterminable operating condition of the slave device 170, for example a gripping condition carried out on an accessory or on a tissue as well as a cutting condition.

[0092] . The interface elements 206, 207 are preferably provided with coupling devices 209 to the control gripper 1 12, for example teeth or snap coupling tabs for coupling to the control gripper through the body of the sterile drape 208. In particular, according to a preferred embodiment, the body of each of the sterile interface elements 206, 207 is made of a single piece of rigid or semi-rigid plastic, for example by molding, and both the elastic snap coupling devices 209 and the one or more elastic elements 221 , 222 of the second elastic device 220 for opening / closing the control gripper 1 12 are made by notching and / or shaping the single piece of plastic forming the body.

[0093] . In accordance with another embodiment, as shown for example in Figure 12 C, the one or more elastic elements 221 , 222 of the second elastic device 220 for opening / closing the control gripper 1 12 are made in a separate piece with respect to the body of the respective sterile interface element andconstrained thereto by, for example, a pin joint which can be associated with a spring, for example a torsional spring, so as to elastically preload the elastic element 221 , 222 with the free end 1 13 thereof. Thereby, the attachment root 1 14 of the elastic body 221 , 222 forms the elastic part.

[0094] . In accordance with a preferred embodiment, the control gripper 1 12 comprises two rigid rods 1 14 which are mutually movable and between which said first elastic device 113 acts; and in which each manipulation interface 206, 207 of the sterile barrier is mounted to a respective rigid rod 1 14 of the control gripper 1 12 juxtaposing the elastic element and the abutment surface thereof on opposite sides of the same rigid rod. In other words, each sterile manipulation interface 206, 207 wraps around or embraces a respective rigid rod 1 14 of the control gripper 1 12 juxtaposing the second cantilevered elastic element 221 or 222 thereof and the abutment surface 224 or 223 thereof from opposite sides of the control gripper rigid rod body. In accordance with another embodiment, only one of the two rigid rods mounts a sterile manipulation interface 206 or 207 with the second elastic device 220 thereof which can be made by means of a cantilevered appendage 221 of the body of said sterile manipulation interface 206.

[0095] . As shown for example in Figure 15 B, the elastic elements 221 , 222 can have different elastic stiffness. Thereby the angular stroke |3, y elastically pre- loaded by a respective elastic element 221 , 222 of the second elastic device 220 is different from the other.

[0096] . The sterile manipulation interfaces 206, 207 can be mounted in a mirror-like manner to each other, i.e., so that the elastic element 221 , 222 of one faces the abutment surface 224, 223 of the other. Thereby it is possible to provide a balanced elastic thrust between the sterile manipulation interfaces 206, 207 while avoiding interposing the sterile drape therebetween, i.e., preventing the yielding sterile drape from interfering with the elastic action between the sterile manipulation interfaces.

[0097] . In accordance with an embodiment, the elastic element 221 , 222 forms a bent part 215, i.e., a saddle 215 which abuts against the respective abutment surface thereof, as shown for example in Figures 14 A and 14 B.

[0098] . Each rigid rod 1 14 of the control gripper, or even only one of the two rigid rods, can comprise one or more sensors for the tracking device 140 of the robotic system 100 for surgical or microsurgical teleoperation. For example, each rigid rod 1 14 of the control gripper 1 12 comprises a tracking sensor thereof which detects the position and orientation of the rigid rod to which it is mounted, and in which the robotic system 100 processes the information of the two sensors of the control gripper to determine the opening angle between the rods, i.e., the opening angle between the sterile manipulation interfaces 205, 206. The stiffness of the rod 1 14 allows the sensors to accurately estimate and / or measure and / or calculate the accuracy of the opening / closing angle of the control gripper. For example, the robotic system can be configured so that the detection of a distance between the sensors results in the estimate of the opening angle of the control gripper.

[0099] . As mentioned above, preferably the one or more sterile barriermanipulation interfaces (e.g., the two opposite sterile interfaces mounted to the gripper) each comprise a snap coupling device 209 to the control gripper, which preferably acts by interposing a sterile drape portion 208 between the respective manipulation interface and the respective rigid rod 1 14 of the gripper. Therefore, the manipulation interfaces are preferably made in a separate piece with respect to the body of the sterile drape 208 and the sterile barrier is adapted to be assembled on site. Alternatively, the manipulation interfaces can be provided already assembled (e.g., glued and / or co-molded) together with the sterile drape 208.

[0100] . The coupling to the control gripper 1 12 can occur by approaching the control gripper with the sterile manipulation interface from the outside, as shown for example in Figure 16 A, or it can occur by frontally approaching the control gripper 1 12, as shown for example in Figure 16 B and Figure 17.

[0101] . As mentioned above, the interface surface 1 16, 1 17 is, on each sterile interface 206, 207, facing away from the direction in which the respective elastic element 221 extends cantilevered as well as the direction in which the abutment surface 221 of that same manipulation interface 205 faces. Opposite interface surfaces 1 16, 1 17 of the two sterile manipulation interfaces can each have a convex and substantially cylindrical shape with respect to a longitudinal axis of the control gripper 1 12, so as to form when approached a cylindrical structure which promotes the roll manipulation of the control gripper between the surgeon's fingers F1 , F2. In other words, by closing the control gripper against the action of the elastic devices 1 13 and 120, the surgeon manipulatesa substantially cylindrical body thanks to the provision of said cylindrical manipulation surfaces.

[0102] . In accordance with a preferred embodiment, each elastic element221 , 222 is made in a single piece with the respective sterile manipulation interface 205, 206 and projects in a cantilevered manner therefrom, forming an attachment root 214 thereof and a cantilevered free end 213 thereof. The attachment root 214 to the body of the manipulation interface can comprise a folded segment to promote elastic deformation of the elastic element 221 or222. The free end 213 can have a curved contact surface to abut against the abutment surface 223, 224 facing thereto.

[0103] . The cantilevered extension direction of an elastic element 221 of a sterile manipulation interface 206 can be oriented opposite, with respect to a proximal-distal direction of the control gripper body 1 12, to the cantilevered extension direction of the elastic element 222 of the other sterile manipulation interface 207. For example, the elastic element 221 projects in a cantilevered manner with the free end 1 13 thereof facing the proximal direction and the elastic element 222 projects in a cantilevered manner with the free end 1 13 thereof facing the distal direction.

[0104] . The two sterile manipulation interfaces can be joined by said second elastic device 220, which is preferably positioned at an end thereof, for example proximal or distal, i.e., it is arranged between the ends, e.g., proximal, of the two sterile manipulation interfaces 206, 207, to form a single piece, for example a single shaped strip of rigid or semi-rigid plastic.

[0105] . The second elastic device 220 can comprise a foil spring and / or a torsional spring and / or an elastic mechanism with spring. The second elastic device 220 is preferably fixed to or made in a single piece with the body of at least one manipulation interface 206, 207, where two of them are provided.

[0106] . The sterile drape 208 can comprise a surgical plastic bag and / or drape. For example, the body of the control gripper 1 12 is inserted inside the bag forming the sterile drape 208 and the one or more sterile manipulation interfaces 206, 207 are coupled to the control gripper through the sterile drape bag body.

[0107] . Two opposite elastic elements 221 , 222 can be provided, each sized so as to activate upon reaching a different angle [3 of opening / closing of said control gripper 1 12. For example, the angle [3 is chosen to be less than half the angle a of the equilibrium position biased by the first elastic device 1 13.

[0108] . In accordance with a general embodiment, a robotic system 100 for robotic surgery or microsurgery is provided, comprising at least one master control device 1 10 according to any of the embodiments described above.

[0109] . The robotic system 100 preferably further comprises at least one motorized manipulator 160 operable under the control of the at least one master control device 1 10.

[0110] . A slave device 170, e.g., a slave surgical instrument, having a degree of freedom of opening / closing S thereof such as gripping and / or cutting and / or dilating, for example, is operatively connected to the robotic manipulator 160 and therefore to the master control device.

[0111] . In accordance with a preferred embodiment, a right master device and a left master device are provided, which are configured to operate a right manipulator and a left manipulator and thus a right slave device and a left slave device.

[0112] . By virtue of the features described above, given either separately or in combination, where applicable, it is possible to respond to the needs mentioned above, and to obtain the listed advantages, in particular:

[0113] . - it allows creating a master control device which is adapted to be manipulated firmly and precisely in a sterile environment;

[0114] . - at the same time, a solution is provided, which includes a disposable sterile manipulation interface part comprising at least one elastic device capable of biasing the control gripper to open, upon reaching a certain opening / closing threshold of the control gripper;

[0115] . - the elastic device associated with the manipulation interfaces can be sized if necessary, and is suitable for excellent repeatability when in operation because the abutment surfaces for the elastic elements are free of flaps of the sterile drape, i.e., they are free of sterile coating as they are already provided on an element which is sterile, i.e., the sterile manipulation interface.

[0116] . It is well understood that the combinations of features of the appended claims form an integral part of the present description.

[0117] . Those skilled in the art may make several modifications and adaptations to the above-described embodiments and may replace elements with functionally equivalent elements without, however, departing from thescope of the appended claims.LIST OF REFERENCE SIGNS

Claims

CLAIMS1 . A master control device (1 10) for surgical teleoperation comprising a control gripper (1 12) operable to open / close (M) and a sterile barrier covering the control gripper; wherein:- the control gripper (1 12) comprises a first elastic device (1 13) for elastically biasing the control gripper to open and / or close;-the sterile barrier of the master control device comprises at least one sterile manipulation interface (206, 207) mounted to the control gripper (1 12) for manipulating the control gripper to open / close; characterized in that the at least one sterile manipulation interface (206, 207) is associated with a second elastic device (220) for elastically biasing the control gripper (1 12) to open and / or close.

2. The device according to claim 1 , wherein the sterile barrier of the master control device comprises two sterile manipulation interfaces (206, 207), including said at least one sterile manipulation interface, and wherein said second elastic device (220) is arranged between the two sterile manipulation interfaces (206, 207) to elastically bias the control gripper (1 12) to open and / or close.

3. The device according to claim 2, wherein the two sterile manipulation interfaces are joined by said second elastic device (220), which is preferably positioned at one end, for example proximal or distal, of the sterile manipulation interfaces (206, 207), to form a single piece.

4. The device according to any one of the preceding claims, wherein the master control device is of the type not constrained to the operating console; wherein the master control device is preferably associated with a position and / or orientation tracking device (140) of one or more points of the control gripper (1 12) for transferring control signals to the slave device (170) controlled by the master control device (1 10).

5. The device according to any one of the preceding claims, wherein said second elastic device (220) comprises a foil spring and / or a torsional spring and / or an elastic mechanism with spring, and wherein the second elastic device (220) is preferably fixed to the body of at least one sterile manipulation interface (206, 207).

6. The device according to any one of the preceding claims, wherein the sterile barrier further comprises a sterile drape (208), such as a surgical plastic bag or sheet, and wherein the second elastic device (220) is arranged outside the sterile drape (208).

7. The device according to any one of the preceding claims 2 to 6, wherein the two sterile manipulation interfaces (206, 207) are arranged on the control gripper (1 12) facing each other; and wherein each sterile manipulation interface (206, 207) comprises an elastic element (221 , 222) thereof extending towards the other facing sterile manipulation interface (207, 206) to elastically load when in contact therewith.

8. The device according to claim 7, wherein each elastic element (221 , 222) projects in a cantilevered manner, forming a free end (1 13) which is preferablyintended to abut against the body of the facing sterile manipulation interface (207, 206).

9. The device according to claim 7 or 8, wherein each sterile manipulation interface (206, 207) further comprises an abutment surface (223, 224) facing the elastic element (222, 221 ) of the other manipulation interface (207, 206).

10. The device according to claim 7, 8 or 9, wherein each elastic element of said two elastic elements (221 , 222) of the respective manipulation interfaces (206, 207) acts over a different closing angle of said control gripper.

11. The device according to any one of claims 2 to 10, wherein the control gripper (1 12) comprises two mutually movable rigid rods (1 14), between which said first elastic device (1 13) acts; and wherein each sterile manipulation interface of the sterile barrier is mounted to a respective rigid rod of the control gripper, juxtaposing the elastic element (221 ; 222) thereof and the abutment surface (223; 224) thereof on opposite sides of the same rigid rod (1 14); and wherein the two sterile manipulation interfaces (206, 207) of the sterile barrier are preferably mounted to the respective rigid rods (1 14) of the control gripper so that the elastic element (221 , 222) of one faces the abutment surface (224, 223) of the other.

12. The device according to any one of the preceding claims 2 to 11 , wherein the two manipulation interfaces (206, 207) of the sterile barrier each comprise a manipulation surface (216, 217) facing opposite to the elastic element (221 , 222) and / or the abutment surface (223, 224) of the same sterile manipulationinterface; and wherein, preferably, each manipulation surface (216, 217) is a convex surface, and preferably a cylindrical surface with respect to a definable longitudinal axis of the control gripper.

13. The device according to any one of the preceding claims, wherein both the first elastic device (1 13) of the control gripper (1 12) and the second elastic device (220) between the sterile manipulation interfaces (206, 207) of the sterile barrier bias the control gripper to open.

14. The device according to any one of the preceding claims, wherein the at least one sterile manipulation interface (206, 207) comprises a snap coupling device (209) for coupling the control gripper; and wherein, preferably, both the snap coupling device (209) and the second elastic device (220) are both made with the rigid or semi-rigid body of the respective sterile manipulation interface (206, 207).

15. A robotic system (100) for surgical or microsurgical teleoperation comprising at least one master control device (1 10) according to any one of the preceding claims and at least one slave device (170); wherein the control gripper (1 12) of the master control device (1 10) is operable to open / close (M) for controlling an enslaved degree of freedom of opening / closing (S) of the slave device.

Images