Ungrounded master controller device for surgical and microsurgical master-slave teleoperation

Abstract

An unconstrained master controller device (110) comprising a sensorized elongated body (10) comprising at least one tracking sensor (11) for detecting position and orientation of the master controller device; a handle (12); a cylindrical roll joint (13) between the handle (12) and the sensorized elongated body (10), said cylindrical joint being suitable to allow relative rotation between the sensorized elongated body and the handle at least about a roll rotation axis (R); and a sensorized control interface (14), mounted to the sensorized elongated body (10) to actuate rotation of the sensorized elongated body (10) about the roll rotation axis (R).

Description

“UNGROUNDED MASTER CONTROLLER DEVICE FOR SURGICAL AND MICROSURGICAL MASTER-SLAVE TELEOPERATION”DESCRIPTION

[0001] . Field of the invention

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

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

[0004] . The master controller device according to the invention is suitable for use as a control device of the type mechanically unconstrained from its operative console.

[0005] . State of the art

[0006] . Robotic surgery apparatuses are generally known in the art and typically comprise a central robotic tower or 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” surgical instrument has a distal articulation for orientation and gripping that is controlled by the manipulator through a mechanical connection and transmission interface.

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

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

[0009] . Other known master devices provide articulated support structures for the manipulated part, suitable to record or detect spatial displacements (translations) of such manipulated part in space. In some prior examples, the right and left master devices are each mounted on a kinematic appendage of the operative console and supported by a gimbal suspension system suitable to detect orientation inputs.

[0010] . Conversely, master devices of the type mechanically / kinematically ungrounded from the operative console are known (“groundless” or “unconstrained” according to English terminology adopted in the field), that is, of a “free-floating” type, which is manipulated by the surgeon within a predetermined three-dimensional tracking volume. Such unconstrained “free-floating” master devices may be suitable for unilateral teleoperation without force feedback.

[0011] . Usually, unconstrained master devices are provided with sensors, such as inertial platforms and / or position and / or orientation sensors, such as for example magnetometers and / or optical markers, in order to determine the command to be transmitted to the slave surgical instrument.

[0012] . In some known examples, a magnetic field emitter is provided that generates a tracking volume within which the position and orientation of two six-degrees-of-freedom magnetometer-type sensors 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 below a certain threshold. Such a sensorization setup also allows determining the position and orientation of the master device. A solution of this type is shown in prior document US-2021-369374 by the same Applicant.

[0013] . Where the surgical instrument is provided with a degree of freedom for opening / closing (grip), that is gripping / cutting, the master device usually comprises an interface allowing the surgeon to actuate such opening / closing degree of freedom using only the fingers, such as for example a control gripper.

[0014] . In some known examples, the master control device is in the form of a control gripper comprising an elastic element mounted on the gripper that tends to keep the gripper itself open, which acts as a control interface for controlling the opening / closing degree of freedom (grip) of the surgical instrument. The elastic element is for example a torsion spring provided at the joint of the control gripper, intended to maintain the control gripper in an open configuration. A solution of this type is shown, for example, in priordocument US-2024-350214 by the same Applicant, which shows a sensorized control gripper connected by means of a spherical joint to the handle in such a way as to allow the surgeon to reorient the sensorized control gripper in space, using only two fingers, with respect to the handle.

[0015] . This type of known solutions, although advantageous in many respects, are not free from drawbacks, and in particular they require the surgeon to maintain a constant grip on the control gripper, in some cases causing fatigue for the surgeon, especially in the case of long-duration surgical procedures.

[0016] . In a master control device of the type unconstrained from the operative console and immersed in a tracking field generated by a magnetic field emitter, information on the orientation and position of the master device is detected by means of one or more six-degrees-of-freedom tracking sensors of the magnetometer type, and is then acquired by the robotic system as input to control the dynamics of the slave surgical instrument.

[0017] . The position command of the slave device imparted by the master control device is typically scaled, that is, it is subject to a reduction scaling factor to allow large movements of the master device to control small movements of the slave device. Conversely, orientation control is typically not scaled, that is, in other words, angular repositioning commands imparted by the master control device are transmitted to the slave surgical instrument without any reduction factor (scaling factor according to English terminology commonly adopted in the relevant technical field).

[0018] . It is therefore possible that a situation may occur in which, in order to achieve small slave movements, in particular reorientation movements, large command movements are required by means of the master controller device within its tracking field, forcing the surgeon to activate the elbow or shoulder joints in order to position the master controller device.

[0019] . Prior document US-2024-277439 by the same Applicant shows a solution of a master control gripper of the type unconstrained from the operative console, in which the control gripper is provided with trackingsensors while a wearable portion is provided, such as a pair of rings, having an additional degree of freedom of movement around the sensorized control gripper to facilitate ergonomics during use and to allow the surgeon to rest a finger by releasing the grip on the sensorized control gripper, without thereby imposing risks of dropping the master device due to the presence of such rings worn by the surgeon. The wearable rings are not sensorized and therefore some finger movements of the surgeon, when not acting on the sensorized control gripper, are transparent to the tracking system and thus are not transmitted to the slave surgical instrument.

[0020] . In fact, particularly in the clinical field of microsurgical teleoperation, as well as in all those steps of robotic surgery that require extremely high precision, it may be desirable for the surgeon to exploit degrees of freedom of movement internal to the body of the master device, for example to reposition the fingers without transmitting any command to the robotic platform, or to minimize the movements required of the surgeon to obtain a certain desired dynamics of the slave surgical instrument.

[0021] . There is therefore a felt need to provide a master controller device solution for robotic surgery, of the type unconstrained from the operative console, having improved ergonomics, capable of minimizing the movements required of the surgeon to satisfactorily control various steps of surgical or microsurgical robotic teleoperation.[0221. Solution

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

[0024] . This and other objects are achieved with a device according to claim 1, as well as with a system according to claim 10.

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

[0026] . According to one aspect of the invention, an unconstrained master controller device is provided for a robotic system of surgical teleoperation having a slave device comprising a surgical instrument provided with an articulating operative end. The unconstrained master controller devicecomprises a sensorized elongated body comprising at least one tracking sensor for detecting position and orientation of the master controller device, a handle, and a cylindrical roll joint between the handle and the sensorized elongated body, said cylindrical joint being suitable to allow relative rotation between the sensorized elongated body and the handle about a roll rotation axis.

[0027] . The master controller device further comprises a sensorized control interface, mounted to the sensorized elongated body, to manually move in rotation the sensorized elongated body about the roll rotation axis. Said sensorized control interface is also provided for actuating a further functionality of the articulating operative end, such as for example an opening / closing command of the jaws or tips of the articulating end.

[0028] . According to one embodiment, the sensorized elongated body extends along its own axis of longitudinal development that is substantially coincident with said roll rotation axis.

[0029] . According to one embodiment, the tracking sensor is a six-degrees-of-freedom sensor defining a local frame of reference fixed to the sensorized elongated body; and wherein a direction of the local frame of reference is parallel to the roll rotation axis.

[0030] . According to one embodiment, the sensorized control interface comprises a concave manipulation surface to receive and at least partially wrap the surgeon’s finger to favour movement of the sensorized elongated body about the roll rotation axis.

[0031] . According to one embodiment, the concave manipulation surface of the sensorized control interface comprises two counter-opposite surfaces of roll dragging surfaces to actuate roll rotation of the sensorized elongated body in both circumferential directions about the roll rotation axis.

[0032] . According to one embodiment, the master controller device further comprises a motion joint between the sensorized elongated body and the sensorized control interface, wherein the control interface is sensorized for detecting relative motion between the sensorized control interface and the sensorized elongated body.

[0033] . According to one embodiment, the sensorized control interface comprises a sensor for detecting relative position and / or orientation between the sensorized control interface and the sensorized elongated body.

[0034] . According to one embodiment, the sensorized control interface comprises a flap or trigger extending cantilevered from the sensorized elongated body. Preferably, the cantilevered flap or trigger comprises an elastic device suitable for biasing the flap or trigger towards an open equilibrium configuration with respect to the sensorized elongated body.

[0035] . According to one embodiment, the sensorized control interface comprises a linearly movable actuation device, such as a push button. Preferably, the linearly movable actuation device comprises an elastic device suitable for biasing it towards an equilibrium configuration extracted from the sensorized elongated body.

[0036] . According to one aspect of the invention, a robotic system of surgical teleoperation comprises said unconstrained master controller device, a slave device comprising a surgical instrument provided with an articulating operative end operable under the control of the master controller device, and a control unit.

[0037] . The slave device comprises its own motorized roll joint to effect rotation of the articulating operative end about a slave roll axis, wherein the control unit is configured to detect information on the angular position about the roll rotation axis of the sensorized elongated body of the master controller device, and to actuate, on the basis of the detected information, the motorized roll joint of the slave device.

[0038] . According to one embodiment, the articulating operative end of the surgical instrument of the slave device comprises its own opening / closing joint to perform gripping and / or cutting and / or dilation operations, wherein the control unit is configured to detect information on the relative configuration of the sensorized control interface and the sensorized elongated body of the master controller device, and to actuate, on the basis of the detected information, the opening / closing joint of the slave device.

[0039] . Thanks to the proposed solutions, it is possible to decouple, at the level of the master controller device, the roll movement from the closing / opening movement of a control gripper, thereby reducing the transmission of unintended movements to the slave articulating operative end.

[0040] . Thanks to the proposed solutions, it is possible to precisely and stably actuate a roll orientation degree of freedom of the master controller device by means of the movement of a single finger, without requiring limitation of the movement of the other fingers gripping the same master controller.

[0041] . Thanks to the proposed solutions, it is possible to press buttons arranged on the master controller and suitable to activate additional functionalities, without compromising control and without transmitting unintended movements to the robotic surgical instrument.

[0042] . Thanks to the proposed solutions, it is possible to obtain a high quantization of the movement related to the closing joint, thereby achieving high resolution in the control of the surgical articulating operative end in closing / opening.

[0043] . Brief description of the figures

[0044] . Further features and advantages of the invention will become apparent from the following description of preferred embodiments, given by way of non-limiting example, with reference to the accompanying figures, in which:

[0045] .- Figure 1 is a pictorial view of a robotic system, under operating conditions, according to one embodiment;

[0046] .- Figure 2 is a pictorial view of a slave device, according to one embodiment;

[0047] .- Figure 3 is a schematic view of a master controller device, according to one embodiment;

[0048] .- Figure 4 is a pictorial view of a master controller device, according to one embodiment;

[0049] .- Figure 5 is a schematic longitudinal sectional view of the mastercontroller device of figure 3;

[0050] .- Figure 6 shows, in a pictorial view, a master controller device, according to one embodiment, when held in the hand of a surgeon;

[0051] .- Figure 7 shows, in a pictorial view, a master controller device, according to one embodiment, when held in the hand of a surgeon;

[0052] .- Figure 8 is a schematic view of a sensorized control interface of a master controller device, according to one embodiment;

[0053] .- Figure 9 is a schematic view of a sensorized control interface of a master controller device, according to one embodiment;

[0054] .- Figure 10 is a diagram showing a robotic system, under operating conditions, according to one embodiment;

[0055] .- Figure 11 is a diagram showing a robotic system, under operating conditions, according to one embodiment.

[0056] . Detailed description of some embodiments

[0057] . Reference throughout this description to “one embodiment” is intended to indicate that a particular feature, structure or function described in connection with the embodiment is included in at least one embodiment of the present invention. Therefore, the wording “in one embodiment” in various parts of this description does not necessarily refer to the same embodiment. Moreover, particular features, structures or functions such as those illustrated in different figures may be combined in any suitable manner in one or more embodiments.

[0058] . According to a general embodiment, a master controller device 110 is provided for surgical or microsurgical robotic teleoperation.

[0059] . The master controller device 110 is configured to control an associated slave device 170 comprising a surgical instrument provided with an articulating operative end 171, operable under the control of the master controller device 110, as shown for example in figure 2.

[0060] . The master controller device 110 is a master controller device of the type unconstrained from an operative console. A tracking system is therefore provided to detect information on position and orientation of the master controller device 110 within a tracking volume. Preferably, thetracking system comprises a magnetic field emitter defining a tracking volume within which the master controller device is positioned, provided with one or more magnetometer-type sensors to locally measure the magnetic field value so as to derive information on position and orientation of the master controller device.

[0061] . The master controller device 110 comprises a sensorized elongated body 10 comprising at least one tracking sensor 11 for detecting position and orientation of the master controller device. The tracking sensor 11 is for example a six-degrees-of-freedom magnetometer-type sensor fixed to the sensorized elongated body 10. The provision of the tracking sensor 11 allows acquisition of position and orientation information of the master controller device 110 with respect to a definable reference MFO, which for example coincides with the magnetic field emitter. It is understood that the six-degrees-of-freedom tracking sensor 11 may be an optical marker and, in this case, the tracking system may comprise a camera capable of defining the MFO reference.

[0062] . Furthermore, the master controller device 110 comprises a handle 12, and a cylindrical roll joint 13 between the handle 12 and the sensorized elongated body 10. Said cylindrical roll joint 13 is suitable to allow relative rotation between the sensorized elongated body 10 and the handle 12 about a definable roll rotation axis R. Therefore, said cylindrical roll joint 13 provides an internal degree of freedom of said master controller device 110.

[0063] . The provision of the cylindrical roll joint 13 allows a roll movement of the sensorized elongated body 10 with respect to the handle 12 that can be performed by means of a single finger F2 of the surgeon 150 (for example the index finger or the middle finger).

[0064] . In particular, the provision of a cylindrical joint 13 prevents displacement of the sensorized elongated body 10 with respect to the handle 12 (right / left or up / down, for example) while allowing the roll degree of freedom, that is rotation of the sensorized elongated body 10 about the roll axis R. In other words, the cylindrical roll joint 13 forms a constraint that allows only roll rotation of the sensorized elongated body 10 with respectto the handle 12. Thanks to the provision of the six-degrees-of-freedom tracking sensor 11 , and thus capable of also detecting the orientation of the elongated body, the tracking system is able to detect such roll movement allowed by the cylindrical joint 13.

[0065] . According to a preferred embodiment, the sensorized elongated body 10 extends longitudinally along the roll rotation axis R. In other words, the longitudinal development direction of the sensorized elongated body 10 is coincident with the roll rotation axis R. In particular, the tracking sensor 11 defines a local frame of reference MF of the master controller device 110, wherein a direction of said local frame of reference MF is preferably parallel to the roll rotation axis R. In this manner, the tracking system is able to detect rotation of the elongated body 10 about the roll rotation axis R by detecting variation of coordinate C of the local frame of reference MF with respect to the reference MFO.

[0066] . Preferably, the handle 12 is non-sensorized, that is free of tracking sensors; in other words, the handle is passive or transparent to the tracking system, and information on position and orientation of the master controller device 110 is derived exclusively by means of the tracking sensor 11 fixed to the sensorized elongated body 10.

[0067] . Advantageously, the master controller device 110 further comprises a sensorized control interface 14, mounted to the sensorized elongated body 10.

[0068] . Thanks to such a master controller device 110, it becomes possible to control, by means of the sensorized control interface 14, a further functionality of the slave device 170, in addition to position and orientation control.

[0069] . Such further functionality is, according to a preferred embodiment, control of the opening / closing degree of freedom G between the tips or jaws 172, 173 of the articulating operative end 171 of the surgical instrument of the slave device 170, in order to perform gripping I cutting I dilation operations.

[0070] . According to a preferred embodiment, the master controller device110 further comprises a joint 15 between the sensorized elongated body 10 and the sensorized control interface 14. In this case, the control interface 14 is preferably sensorized for detecting relative movement between the control interface 14 itself, for example its cantilevered flap 18, and the sensorized elongated body 10. In other words, a sensor 16 is preferably provided for detecting relative position and / or orientation between the sensorized control interface 14 and the sensorized elongated body 10.

[0071] . The sensor 16 for sensorization of the control interface 14 may be a six-degrees-of-freedom position and orientation sensor. In this case, detection of actuation of the control interface 14 may be achieved by detecting distance and / or angle between the sensor 16 and the tracking sensor 11.

[0072] . The sensor 16 for sensorization of the control interface 14 may be a proximity sensor based on reflected-wave detection to detect distance information between the control interface and the sensorized elongated body, or an encoder-type sensor to detect angular displacement information between the control interface and the sensorized elongated body.

[0073] . The control interface 14 preferably comprises a concave manipulation surface to receive and partially wrap a finger F2 of the surgeon, for example the index finger or the middle finger of the hand H gripping the handle 12. The curvature of the manipulation surface of the control interface 14 describes a concave surface extending around the local longitudinal development direction of the control interface 14 itself, such as for example a cantilevered flap 18 or a push button 18. In particular, the concavity of the concave manipulation surface of the control interface 14 is shaped to facilitate roll-rotation dragging about the roll rotation axis R of the control interface 14, such that by acting only on said control interface 14 it becomes possible to determine roll rotation of the sensorized elongated body 10, that is to rotate the cylindrical roll joint 13. Therefore, the control interface 14 faces outwardly, that is, it is oriented opposite with respect to the sensorized elongated body 10. In addition, the control interface 14 is concave, so as to preferably define two counter-oppositesurfaces of roll dragging surfaces to actuate roll rotation of the sensorized elongated body 10 in both circumferential directions about the roll rotation axis R. At the same time, this type of concavity allows receiving any portion of the finger F2, whether the fingertip or the base of the fingertip, because the interface 13 is substantially through-going in the longitudinal direction.

[0074] . The sensorized elongated body 10 may comprise a surface 17 for supporting another finger F1 of the surgeon 150, such as for example the thumb of the hand H gripping the handle 12, wherein said surface 17 is opposite with respect to said control interface 14, that is, it also faces outwardly.

[0075] . When under operating conditions, as explained above, in order to rotate the sensorized elongated body 10 by a roll rotation about the roll rotation axis R, it is sufficient to use a single finger F2 by applying a digital command X on said control interface 14. The tracking sensor 11 fixed to the elongated body 10 detects this roll rotation. Therefore, the surface 17 for the other finger F1 of the surgeon 150 is superfluous for achieving roll rotation and may be intended solely for resting the finger F1. According to a preferred embodiment, the sensorized elongated body 10, for example in proximity to or corresponding to said surface 17, and / or the handle 12 of the master controller device 110, presents one or more actuation devices 19 (for example buttons, push buttons).

[0076] . When under operating conditions, in order to rotate the sensorized elongated body 10 by a roll rotation about the roll rotation axis R, it is sufficient to use a single finger F2 by applying a digital command X on said control interface 14, while the other finger F1 may be used to operate said one or more actuation devices 19. According to a preferred embodiment, the actuation devices 19 (buttons / push buttons / dials, etc.) are provided in a plurality and are distributed in various portions of the master controller device on the side of said surface 17.

[0077] . As mentioned above, the sensorized control interface 14 may comprise a flap 18 or trigger 18 extending cantilevered from the sensorized elongated body 10, for example in correspondence with said joint 15.According to a preferred embodiment, the cantilevered flap 18 or trigger 18 comprises an elastic device (not shown) suitable to bias the flap or trigger towards an open equilibrium configuration with respect to the sensorized elongated body 10.

[0078] . The control joint 15 is not necessarily a rotational joint, and for example may be implemented by a push button, as shown for example in figure 9. Sensorization of the control interface 14 may be obtained by providing an electrical device that detects actuation of the push button (ON / OFF type command detected by the sensor 16). Alternatively or in addition, sensorization of the control interface 14 may be obtained by detecting position and / or orientation of the control interface itself 14, that is of the sensor 16, and comparing it with information on position and / or orientation detected by the tracking sensor 11 of the elongated body 10.

[0079] . The master controller device 110 is suitable for controlling a surgical teleoperation simulator.

[0080] . According to a general embodiment, a robotic system 100 for surgical teleoperation is provided, comprising a master controller device 110 according to any one of the embodiments previously described, and a slave device 170 comprising a surgical instrument provided with an articulating operative end 171 , operable under the control of the master controller device 110.

[0081] . In particular, the slave device 170 comprises its own motorized roll joint 175 to effect rotation of the articulating operative end 171 about a slave roll axis S, wherein the motorized roll joint 175 of the slave device 170 is actuatable by movement of the sensorized elongated body 10 of the master controller device with respect to the handle 12 about the rotation axis R, by means of the aforesaid digital command X applied on the sensorized control interface 14.

[0082] . As shown for example in figure 10, the motorized roll joint 175 of the slave device 170 may be arranged between a robotic manipulator 140 and the surgical instrument of the slave device, so as to effect rotation of the slave surgical instrument as a whole. The robotic manipulator 140 maycomprise a motor 141 to actuate roll rotation of the surgical instrument of the slave device 170 as a whole.

[0083] . Alternatively, the roll joint 175 of the slave device 170 may be implemented by an internal roll joint provided in the body of the surgical instrument itself, for example located between the articulating operative end 171 and an elongated positioning rod 176 of the surgical instrument itself. In this case, the roll joint 175 is motorized because it may be moved by actuation tendons that are in turn driven by a motorized actuator 142.

[0084] . The robotic system 100 further comprises a control unit 130 configured to detect information on the angular position about the roll rotation axis R of the sensorized elongated body 10 of the master controller device 110, and to actuate, on the basis of the detected information, the motorized roll joint 175 of the slave device 170.

[0085] . For this purpose, the tracking sensor 11 is preferably arranged parallel to the roll axis R, as explained previously, in such a way that the control unit 130 detects information on variation of the angular coordinate C of the local frame of reference MF defined by the tracking sensor 11. The slave device 170 may in turn present, with respect to a slave frame of reference SFO, the same orientation as the master device, that is master and slave are displayed aligned with each other to the surgeon. In particular, the elongated positioning rod 176 is preferably rigid and aligned with the slave roll axis S, so that slave roll rotation occurs about the axis of the elongated positioning rod 176.

[0086] . Rotation of the sensorized elongated body 10 with respect to the handle 12, which is held in the hand by the surgeon, allows rotation of the tracking sensor 11 fixed to the elongated body 10 by means of the digital command X, thereby enabling actuation of the motorized roll joint 175 of the slave device 170.

[0087] . Therefore, thanks to the proposed solutions, it is possible to actuate the roll joint of the slave device 170 by using only a single finger F2 of the surgeon 150, avoiding the need to impose large movements at the level of the surgeon’s elbow or shoulder in order to rotate the position andorientation sensor 11 about the roll rotation axis R.

[0088] . According to a preferred embodiment, the articulating operative end 171 of the surgical instrument of the slave device comprises its own opening / closing joint 174 to perform gripping G and / or cutting G and / or dilation G operations. According to this embodiment, said opening / closing joint 174 is also actuatable by means of the digital command X on the sensorized control interface 14 of the master controller device 110. In this case, the control unit 130 is configured to detect information on the relative configuration of the sensorized control interface 14 and the sensorized elongated body 10 of the master controller device 110, and to actuate, on the basis of the detected information, the opening / closing joint 174 of the slave device 170.

[0089] . Therefore, thanks to the proposed solutions, it is possible, by using only a single finger F2 of the surgeon 150 (index or middle finger), to actuate the roll joint of the slave device 170 and to actuate the tips or jaws 172, 173 of the articulating operative end 171 of the slave device.

[0090] . Where the middle finger is used to move the sensorized control interface 14, it is possible to provide one or more actuation devices 19 on the upper portion of the handle 12 or of the elongated body 10, a region easily accessible by means of the index finger.

[0091] . The articulating operative end 171 of the slave device 170 may comprise individual actuation tendons for individually moving each of the two tips or jaws 172, 173 to effect actuation of the tips or jaws controlled by the control interface 14 of the master controller device 110, wherein the actuation tendons are moved by a dedicated motorized actuator preferably arranged in the robotic manipulator 140.

[0092] . Alternatively, the articulating operative end 171 of the slave device 170 may comprise one or more actuation tendons only for actuating one of the tips or jaws 172, 173 to effect actuation controlled by the control interface 14 of the master controller device 110.

[0093] . The reference MFO of the tracking system may be located in the handle 12. Preferably, the reference MFO of the tracking system is arrangedin the operating arena, for example fixed to a console, or to a display, or to the chair on which the surgeon sits.

[0094] . The robotic system 100 may further comprise a vision system 120, for example comprising an electronic microscope, to acquire images of the surgical site and of the articulating operative end.

[0095] . Thanks to the described features, provided separately or jointly in particular embodiments, it is possible to meet the above-mentioned needs, obtaining the aforementioned advantages, and in particular:

[0096] .- the cylindrical roll joint 13 constrains the sensorized elongated body 10 in a definable relative angular direction with respect to the handle 12 while allowing roll, that is rotation of the elongated body about its own longitudinal development axis;

[0097] . - the provision of the sensorized control interface 14 allows roll movement of the sensorized elongated body 10 about the rotation axis R;

[0098] .- sensorization of said control interface 14, designed to detect movement of the control interface 14 with respect to the elongated body 10, also allows control of the slave opening / closing degree of freedom;

[0099] .- precise teleoperation is enabled that minimizes the amplitude of movements required of the surgeon, and in particular a teleoperation that controls roll rotation by means of a digital command X of a single finger F2 (in English: “finger roll”);

[0100] . - it is understood that the surgeon may decide to place two fingers (for example index and middle fingers) on the sensorized control interface 14;

[0101] . - with the same single finger F2, the surgeon may actuate an additional functionality, which is preferably control of the opening / closing degree of the jaws of the slave articulating operative end;

[0102] . - the additional functionality controlled by means of the sensorized control interface 14 may be delivery of electrosurgical energy, or application of surgical sutures;

[0103] . - additional actuation devices 19 may therefore be provided, intended to be controlled by another finger of the surgeon;

[0104] . - such additional actuation devices 19 may be configured to actuate an additional functionality of the slave device such as, for example, delivery of electrosurgical energy, as well as to modify robot state parameters such as, for example, the scaling factor;

[0105] . - the reference MFO of the tracking system may be an electromagnetic emitter defining a tracking volume within which the master controller device is arranged.

[0106] . It is understood that the combinations of features of the appended claims form an integral and essential part of the present description.

[0107] . A person skilled in the art may make numerous modifications, adaptations and substitutions of elements with functionally equivalent elements to the embodiments described above, without however departing from the scope of the appended claims.LIST OF NUMERICAL REFERENCES 10 Master controller device11 Tracking sensor12 Handle13 Joint14 Sensorized control interface15 Joint16 Sensor17 Manipulation surface18 Flap or trigger19 Actuation device100 Robotic system or robotic assembly110 Master controller device120 Vision system130 Control unit140 Robotic manipulator141 Roll joint motor142 Motorized opening / closing actuator150 Surgeon170 Slave device171 Articulating operative end172 Jaw or tip173 Jaw or tip174 Opening / closing joint175 Motorized roll joint176 Elongated positioning rodF1 Finger or thumbF2 Finger or index or middle fingerC Coordinate of the local frame of reference H HandR Master device rotation axisX Digital commandS Slave roll axisROLL Slave device rollMFO Tracking system referenceMF Local frame of referenceSFO Slave reference

Claims

CLAIMS1. Ungrounded master controller device (110) for a robotic system (100) of surgical teleoperation having a slave device (170) with a surgical instrument having an operative articulating end (171), comprising-a sensorized elongated body (10) comprising at least one tracking sensor (11 ) for detection of position and orientation of the master controller device;-a handle (12);- a cylindric roll joint (13) between the handle (12) and the sensorized elongated body (10), said cylindrical roll joint being suited to allow relative rotation between the sensorized elongated body and the handle about a roll rotation axis (R );- a sensorized control interface (14), mounted to sensorized elongated body (10), for activation of a further functionality of the operative articulating end; said sensorized control interface (14) is to manually move in rotation the sensorized elongated body (10) about the roll rotation axis (R ).

2. Device according to claim 1, wherein the sensorized elongated body (10) extends along an its own axis of longitudinal development that is substantially coincident with said roll rotation axis (R ) between the sensorized elongated body (10) and the handle (12).

3. Device according to claim 1 or 2, wherein the tracking sensor (11) is a six-degrees-of-freedom sensor defining a local frame of reference (MF) that is fixed to the sensorized elongated body (10); and wherein, a direction of the local frame (MF) of reference defined is parallel or coincident with the roll rotation axis (R ).

4. Device according to claim 1, 2 or 3, wherein the sensorized control device (14) comprises a concave manipulation surface to receive and al least partially wrap a surgeon’s finger to favour moving in rotation the sensorized elongated body (10) about the roll rotation axis (R ).

5. Device according to claim 4, wherein the concave manipulation surface of the sensorized control interface (14) comprises two counter-opposite roll dragging surfaces to move in roll rotation the sensorized elongated body (10) in both circumferential directions about the roll rotation axis (R ).

6. Device according to any one of the preceding claims, further comprising a motion joint (15) between the elongated sensorized body (10) and the sensorized control interface (14), wherein, the sensorized control interface (14) is sensorized for detection of relative motion of sensorized control interface and sensorized elongated body.

7. Device according to claim 6, wherein the sensorized control interface (14) comprises a sensor (16) for detection of mutual position and / or orientation of sensorized control interface and sensorized elongated body.

8. Device according to any one of the preceding claims, wherein the sensorized control interface (14) comprises a flap (18) of trigger that extends cantilevered from the sensorized elongated element (10); wherein, preferably, the flap (18) or trigger comprises an elastic device to bias the flap or trigger towards an open equilibrium configuration with respect to the sensorized elongated body.

9. Device according to any one of claim from 1 to 7, wherein the sensorized control interface (14) comprises an activation device linearly movable, such as a push button; wherein, preferably, the activation device linearly movable comprises an elastic device suitable to bias it towards an extracted equilibrium configuration that is extracted from the sensorized elongated body (10).

10. Robotic system (100) of surgical teleoperation comprising:- an ungrounded master controller device (110), according to any one of the preceding claims,;- a slave device (170) comprising a surgical instrument with an operative articulating end (171) that is operable under control of the master controller device (110);- a control unit (130);wherein, the slave device comprises an its own motorized roll joint (175) to drive in rotation the operative articulating end (171) about aslave roll axis (S);and wherein, the control unit is configured for:-detect information on the angular position, about the roll rotation axis (R ), of the sensorized elongated body (10) of the master controller device (110);- driving, based on the detected information, the motorized roll joint (175) of the slave device (170).

11. Robotic system (100)according to claim 10, wherein the operative articulating end (171) of the surgical instrument of the slave device comprises an its own opening / closing joint (174) to operate grip and / or cut and / or dilation;and wherein, the control unit is configured for:-detect information on the mutual configuration of the sensorized control interface (14) and the sensorized elongated body (10) of the master controller device (110);-driving, based on the detected information, the opening / closing joint (174) of the slave device (170).

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