Digital vision systems and methods to safely control an electrosurgical instrument, particularly for teleoperated robotic surgery and microsurgery

Abstract

Robotic system (1) for electrosurgical teleoperation comprising: an electrosurgical instrument (5), suitable to operate in an operating scene; one or more image acquisition devices (6), for acquiring image data of the operating scene; an electronic control system (100), configured to automatically adjust the power of the electrosurgical instrument (5) based on the image data acquired by said one or more image acquisition devices (6).

Description

[0001] "DIGITAL VISION SYSTEMS AND METHODS TO SAFELY CONTROL AN ELECTROSURGICAL INSTRUMENT, PARTICULARLY FOR TELEOPERATED ROBOTIC SURGERY AND MICROSURGERY"

[0002] DESCRIPTION TECHNOLOGICAL BACKGROUND OF THE INVENTION

[0003]

[0001] . Field of the invention

[0004]

[0002] . An object of the present invention is a robotic system for electrosurgical teleoperation.

[0005]

[0003] . In particular, the robotic system according to the invention is for the safe control of an electrosurgical instrument, based on image data.

[0006]

[0004] . The present invention further relates to a control method.

[0007]

[0005] . Background art

[0008]

[0006] . Generally, electrosurgery is defined as the surgical technique with which high-frequency electric current (therefore electric power) is transmitted to human tissues, generating a localized temperature increase such as to cut or coagulate such tissues. Such a technique requires an electrosurgical current generator, an active electrode (monopolar or bipolar) and a return electrode.

[0009]

[0007] , In particular, the transmission of the electrosurgical current from the generator to the active electrode occurs by means of a connection cable having a length between 1 and 5 meters, or forming part of the active electrode itself or separated, with one or more electrical connectors suitable for connection with the electrosurgical generator and with the active electrode.

[0010]

[0008] . In particular, the geometry of such electrical connectors is standardized, thus guaranteeing a safe electrical connection by combining electrosurgical units, active electrodes and connection cables from different manufacturers.

[0011]

[0009] . The electrosurgical current generator is provided with manual controls with which the user can set the electrical output power and the mode (e.g. waveform, duty cycle) of the electrosurgical current depending on the desired effect on the tissue. Each mode of each generator is characterized by an upper power limit defined by the generator manufacturer; such limits vary as the generator manufacturer varies and are often much higher than the power levels that are actually used during surgical procedures. Since the selection of electrosurgical power is an action left to the user (nurse and / or surgeon), this is inherently subject to human error.

[0012]

[0010] . The incorrect setting of electrosurgical power greater than the necessary power, or the activation under specific conditions in the interaction with the tissue, can causeirreversible damage to the patient or to the instrumentation used and provided with an active electrode in the event of an unsuitable power supply provided by an incompatible generator to which it could be connected in the operating room, given the numerous pieces of electrical equipment present on site, taking into account the variability of the features of the machines themselves due to the large number of different manufacturers.

[0013]

[0011] . Prior art WO-2024-261678 in the name of the same Applicant shows some solutions of monopolar or bipolar electrosurgical instruments controlled by means of a robotic electrosurgical teleoperation system of the master-slave type, and in particular solutions suitable for an extreme miniaturization of the instrument itself for microsurgical applications.

[0014]

[0012] , For example, the prior art document US-12178531 in the name of the same Applicant shows a robotic system solution for master-slave microsurgical teleoperation having a crossbar which mounts two robotic manipulators, each of which operate a respective miniaturized surgical instrument thereof, and an image acquisition device arranged therebetween.

[0015]

[0013] , Therefore, the known electrosurgical instrument solutions are not at all without drawbacks, and the need remains strongly felt to improve safety, both for the operators and for the patient, when in operating conditions.

[0016]

[0014] . SUMMARY OF THE INVENTION

[0017]

[0015] , It is an object of the present invention to obviate the drawbacks complained of with reference to the prior art.

[0018]

[0016] , This and other objects are achieved with a system, according to claim 1, as well as with a method, according to claim 13.

[0019]

[0017] , Certain advantageous embodiments are the subject of the dependent claims.

[0020]

[0018] . By virtue of the proposed solutions, it is possible to adjust the power delivered by the electrosurgical instrument, based on image data acquired by a digital vision system comprising a thermal camera and / or a camera.

[0021]

[0019] . By virtue of the proposed solutions, the risk of collateral damage to the patient during an electrosurgical procedure actuated by means of master-slave robotic teleoperation is kept low.

[0022]

[0020] . Brief description of the drawings

[0023]

[0021] , Further features and advantages of the invention will be apparent from the following description of preferred embodiments, given by way of non-limiting indication, with reference to the accompanying drawings, in which:

[0024]

[0022] . - Figure 1 is a block diagram of a robotic system for electrosurgical teleoperation, according to an embodiment;

[0023] . - Figure 2 is a diagrammatic view of an electrosurgical instrument, according to an embodiment, when in operating conditions;

[0025]

[0024] . - Figure 3 is a block diagram of a robotic system for electrosurgical teleoperation, according to an embodiment;

[0026]

[0025] . - Figure 4 diagrammatically shows a control system, as well as a control method, for a robotic system for electrosurgical teleoperation, according to an embodiment;

[0027]

[0026] . - Figure 4bis diagrammatically shows a control system, as well as a control method for a robotic system for electrosurgical teleoperation, according to an embodiment;

[0028]

[0027] . - Figures 5 and 6 are block diagrams of a robotic system for electrosurgical teleoperation, according to some embodiments.

[0029]

[0028] . Detailed description of some embodiments

[0030]

[0029] . In accordance with a general embodiment, a robotic system 1 for electrosurgical teleoperation is provided comprising at least one electrosurgical instrument 5, suitable for operating in an operating scene (e.g., surgical operating scene).

[0031]

[0030] . The robotic system 1 preferably comprises at least one robotic manipulator 2 for operating the electrosurgical instrument 5 to which the instrument is mounted, when in operating conditions, for example by interposing a sterile barrier.

[0032]

[0031] , The robotic system 1 comprises one or more image acquisition devices 6, for acquiring image data of the operating scene F or operating field F.

[0033]

[0032] . In accordance with an embodiment, said one or more image acquisition devices comprise both a camera and a thermal camera. The operating scene F preferably comprises a portion of a patient P belonging to the field of vision of the one or more image acquisition devices 6.

[0034]

[0033] . Advantageously, the robotic system 1 comprises an electronic control system 100, configured to automatically adjust the power of the electrosurgical instrument 5 based on the image data acquired by said one or more image acquisition devices 6.

[0035]

[0034] , The acquired image data can be referred to the electrosurgical instrument 5 only, as well as they can be referred to the operating scene F as a whole, meaning herein also to indicate part of the background and / or the tissue treated or to be treated. The acquired image data can be processed, for example filtered, segmented, stored, analyzed, by the electronic control system 100. The image acquisition device 6 preferably comprises a digital vision device, and the control system 100 or the digital vision device itself is provided with computer vision algorithms.

[0036]

[0035] . In accordance with an embodiment, said one or more image acquisition devices 6 comprise a thermal camera, preferably adapted for acquiring image data of the infrared typeLWIR, and said electronic control system 100 is configured to identify one or more regions of excessive local temperature X1, X2, based on the image data acquired by the thermal camera, and, based on the identified one or more regions of excessive local temperature X1, X2, automatically adjust the power of the electrosurgical instrument 5. Thereby, it is possible to automatically limit or interrupt the power of the electrosurgical instrument 5 if the control system 100, by processing the image data LWIR of the thermal camera, identifies temperatures above a certain threshold. The threshold can be set, and for example it is around 50°C.

[0037]

[0036] . Of course, the thermal camera is suitable for acquiring image data (indicated with LWIR in the drawings) which do not necessarily belong to the long wave infrared group, and for example may belong to other bands of the infrared spectrum.

[0038]

[0037] , The electronic control system 100, to locate the regions of excessive temperature X1, X2 identified based on the image data LWIR acquired by the thermal camera, can use the motion kinematics data of the electrosurgical instrument 5, which can be acquired by a robotic manipulator 2 managed by the control system 100 itself, i.e., by the robotic manipulator 2 associated with the electrosurgical instrument 5 and operable under the control of the electronic control system.

[0039]

[0038] . Therefore, in accordance with an embodiment, said electronic control system 100 is also configured to: acquire motion kinematics data of said electrosurgical instrument 5 of the robotic system in real time, and coordinate the image data acquired by the thermal camera with the motion kinematics data, to identify and locate the one or more regions of excessive local temperature X1, X2.

[0040]

[0039] . In particular, the robotic manipulator 2 can comprise one or more motorized actuators for operating the electrosurgical instrument, for example moving it, rotating it in the entirety thereof or only in the end part thereof, which for example is articulated (surgical wrist), and comprises at least one electrode 52.

[0041]

[0040] . As shown for example in Figure 3, in accordance with an embodiment, the one or more image acquisition devices 6 comprise a thermal camera and a camera. Thereby, it is possible to acquire, preferably in real time, both infrared image data and vision image data, i.e., image data in the visible spectrum (for example: chromaticity, monochromatic image, gray scale, or others). According to this embodiment, said electronic control system 100 is configured to coordinate the image data acquired by the thermal camera LWIR with the image data acquired by the camera RGB, to identify and locate the one or more regions of excessive local temperature X1, X2.

[0042]

[0041] . As shown for example in Figure 4, the image data acquired by the thermal cameraLWIR can be matched / com pared with the image data acquired by the camera RGB to locate the regions with temperatures above a certain threshold. Such localized regions can be matched / compared, in turn, with an expected local temperature model or a map containing exclusion zones, to discriminate an anomalous condition. For example, the zone X2 arranged within a distance D from the electrode 52 of the electrosurgical instrument 50 is expected to undergo a strong rise in temperatures, whereby it can have a higher set threshold with respect to other zones. For example, an increase in the temperature in an insulating section 54 of the instrument, such as the positioning rod of the electrode 52 suitable for positioning the electrode in natural or other anatomical cavities, is an indication of an anomaly such as a breakage of the insulating layer, because in that zone X1 the temperature is not expected to rise.

[0043]

[0042] , As shown for example in Figure 4bis, the image data acquired by the thermal camera can be filtered and processed to assign a temperature value to each pixel of the image, obtaining a thermal image, and in the obtained thermal image the pixels with a temperature higher than a predetermined threshold, for example 50°C, are identified. The image data acquired by the camera can be segmented to identify the electrosurgical instrument. The acquired image data can be the subject of a bi-dimensional projection. The acquired image data can be processed to identify one or more areas in which an increase in temperature above the threshold is expected (for example, within a distance D from the electrode). Following at least some of the above-described processing, the thermal images and bi-dimensional projection can be matched / compared to identify pixels having an abovethreshold temperature which are not in the one or more areas where an above-threshold temperature increase is expected.

[0044]

[0043] , The electronic control system 100 can comprise a memory, for storing a model of expected local temperature of the electrosurgical scene and / or the electrosurgical instrument, and said electronic control system 100 is configured to match said one or more regions of excessive local temperature X1, X2 identified with said model of expected local temperature; and based on the match, automatically adjust, in particular limit or interrupt, the power of the electrosurgical instrument 5.

[0045]

[0044] . In accordance with an embodiment, the electronic control system 100 is configured to locate said one or more regions of excessive local temperature identified with respect to the electrode 52 of the electrosurgical instrument 5.

[0046]

[0045] . In accordance with an embodiment, said one or more image acquisition devices 6 comprise a camera, and said electronic control system 100 is configured to locate the electrosurgical instrument, based on the image data acquired by the camera and, based onthe location of the surgical instrument in the field of vision, automatically interrupt the power of the electrosurgical instrument. Thereby, it is possible to adjust the power of the electrosurgical instrument, for example interrupt or limit it, if the electrosurgical instrument is detected to be outside the field of vision or in the vicinity of the boundaries of the field of vision of the vision device 6.

[0047]

[0046] . Preferably, said electronic control system 100 is configured to determine whether the electrosurgical instrument is outside the field of vision of the vision device 6 or near the limits of the field of vision of the vision device 6, and automatically interrupt the power of the electrosurgical instrument 5, as shown for example in Figure 6.

[0048]

[0047] , In accordance with an embodiment, said electronic control system 100 is configured to determine if the electrosurgical instrument is in the vicinity of an obstacle, and automatically interrupt the power of the electrosurgical instrument 5.

[0049]

[0048] . In accordance with an embodiment, the robotic system 1 comprises an electrosurgical energy generator 4, in operating connection with the electrosurgical instrument 5.

[0050]

[0049] . The electronic control system 100 can be configured to transmit control signals to said electrosurgical energy generator 4, to adjust the power of the electrosurgical instrument based on the image data.

[0051]

[0050] . In accordance with an embodiment, as shown for example in Figure 5, a power cable 10 for the electrosurgical instrument 5 is provided, said power cable 10 comprising an operative block 20 configured to receive a control input and to adjust the current in transit in the power cable 10 based on said control input, in which, said electronic control system 100 is configured to transmit said control input to said operative block 20 of the power cable 10. The power cable 10 can comprise an end with a connector 14 suitable for connection to the electrosurgical energy generator 4. At the opposite end of the power cable 10, the electrosurgical instrument 5 is mounted, preferably fastened.

[0052]

[0051] , A control method for a robotic system 1 for electrosurgical teleoperation will be described below.

[0053]

[0052] , The method is particularly suitable, although not uniquely intended, for controlling the robotic system 1, according to any of the embodiments described above, and the method is therefore suitable for being implemented by the electronic control system 100, according to any of the embodiments described above.

[0054]

[0053] . The control method for a robotic system 1 for electrosurgical teleoperation comprising the steps of: acquiring image data RGB, LWIR of an operating scene, and based on the acquired image data, automatically adjusting the power of the electrosurgicalinstrument 5.

[0055]

[0054] . By virtue of such a method, it is possible to limit or interrupt the delivery of energy by the electrosurgical instrument 5, based on image data.

[0056]

[0055] . The image data can comprise or generate thermal images and / or vision images. Therefore, the method comprises the steps of acquiring thermal image data and vision image data of an operating scene, and based on the acquired image data, automatically adjusting the power of the electrosurgical instrument 5.

[0057]

[0056] . In accordance with an embodiment, the method comprises the step of identifying one or more regions of excessive local temperature X1 , X2, and based on the identified one or more regions of excessive local temperature, automatically adjusting, in particular limiting or interrupting, the power of the electrosurgical instrument 5.

[0058]

[0057] , The regions of excessive local temperature X1, X2 can be defined as pixels of the thermal image having an associated temperature value above a certain threshold.

[0059]

[0058] . As mentioned above, the image data acquired by the thermal camera LWIR (thermal image) can be matched with the image data acquired by the camera RGB to locate the regions with temperatures above a certain threshold. For example, the thermal image and the vision image are overlapped to locate, in the vision image, the pixels with a temperature value above the threshold of the thermal image.

[0060]

[0059] . The vision image data acquired by the camera can be segmented, for example by using deep learning networks or deep learning algorithms, to identify, for example, the electrosurgical instrument in the image. Thereby, it is possible, if necessary, to locate the aforesaid pixels with a temperature value above the threshold with respect to the position of the electrosurgical instrument 5 or a part thereof, for example the electrode 52 and / or the insulating section 54.

[0061]

[0060] . The method can further comprise the step of predicting a mathematical model or a map of expected local temperature, and matching the image data processed with said model or map. In accordance with an embodiment, the model or map defines a surrounding region placed within a distance D from the electrode 52 of the instrument 5 in which the expected local temperature is above the threshold. Thereby, it is possible to discriminate an anomalous condition from a condition of normal operation of the electrosurgical instrument. In particular, by virtue of such a method, it is possible to assess whether the increase in temperature detected by the thermal camera affects a zone in which the increase in temperature above the threshold is expected or not, and in the event that the area affected by the increase above the threshold detected belongs to a region in which no increase above the threshold is expected, the method allows intervening on the power of the electrosurgicalinstrument. Otherwise, if the increase in temperature above the threshold belongs to a zone in which it is expected, the method envisages not intervening on the electrosurgical instrument 5, as it is a condition of normal operation.

[0062]

[0061] , In accordance with an embodiment, to locate the increase in temperature above the threshold, the kinematics data of the surgical instrument 5 are used, for example taken from the robotic manipulator 2 which operates, by means of the motorized actuators thereof, the electrosurgical instrument. Therefore, the method can comprise the steps of acquiring motion kinematics data of said electrosurgical instrument 5; and coordinating the image data acquired by the thermal camera with the motion kinematics data, to identify and locate one or more regions of excessive local temperature; and, based on the identified and located one or more regions of excessive local temperature, automatically adjusting, in particular limiting or interrupting, the power of the electrosurgical instrument 5.

[0063]

[0062] . For example, the positioning information acquired from the kinematics data can provide information on the pose (position and orientation) of the electrode 54, and in such a case, the method can comprise: calculating a distance D, from the pose according to the kinematics data, said distance defining a zone in which the increase in temperature above the threshold is expected.

[0064]

[0063] . In accordance with an embodiment, the method provides adjusting, in particular limiting or interrupting, the power of the electrosurgical instrument 5 if it is outside the field of vision of the vision device 6 or near the limits of the field of vision of the vision device 6. Therefore, the method can comprise: locating the electrosurgical instrument, based on the image data acquired by the camera, and based on the location or lack of location of the surgical instrument in the field of vision, automatically interrupting the power of the electrosurgical instrument.

[0065]

[0064] . For example, the method can comprise the step of interrupting the delivery of electrosurgical energy if the electrosurgical instrument 5, or a part thereof, is not identified in the field of vision of the vision device 6.

[0066]

[0065] . Of course, the field of vision can be the field of vision of the thermal camera.

[0067]

[0066] . In accordance with an embodiment, the method comprises the steps of: determining whether the electrosurgical instrument is outside the field of vision of the vision device 6 or in the vicinity of the limits of the field of vision of the vision device 6, for example the camera and / or the thermal camera, and automatically interrupting the power of the electrosurgical instrument 5 if the electrosurgical instrument is outside the field of vision or in the vicinity of the limits of the field of vision.

[0068]

[0067] , In accordance with an embodiment, the method comprises the steps of: determiningwhether the electrosurgical instrument 5 is in the vicinity of an obstacle, and automatically interrupting the power of the electrosurgical instrument 5 if the electrosurgical instrument is in the vicinity of an obstacle. The obstacle can be an anatomical part of the patient P.

[0069]

[0068] . To carry out the adjustment, such as the limitation or interruption of the electrosurgical power, the method can comprise the step of controlling the electrosurgical energy generator 4.

[0070]

[0069] . Alternatively, where a power cable 10 for the electrosurgical instrument 5 is provided with an operative block 20 suitable for receiving a control input, in order to adjust, in particular limit or interrupt, the current in transit in the cable and therefore the power transmitted to the electrosurgical instrument 5, the method can comprise, for carrying out the adjustment, such as the limitation or interruption, of the electrosurgical power, the step of transmitting said control input to said operative block 20 of the power cable 10, based on the image data acquired by the vision device 6.

[0071]

[0070] , The limitation of the power of the electrosurgical instrument 5 can be achieved by limiting the voltage in the operative block 20 of the power cable 10. For example, the voltage can be limited to a value of 400 Volt or 1000 Volt. The voltage or current can be measured by the operative block 20.

[0072]

[0071] , In accordance with an embodiment, in the event that the power cable 10 is of the bipolar type with two phases (outgoing and return), monitoring the two phases allows estimating the electrical impedance of the tissue, during the treatment.

[0073]

[0072] , In accordance with an embodiment, the method comprises the steps of: processing the image data acquired by the thermal camera to assign a temperature value to each pixel of the image, identifying pixels with a temperature value higher than a threshold, processing the image data acquired by the camera to identify one or more regions where a temperature increase higher than a threshold is expected, identifying pixels with an above-threshold temperature which are not in the one or more areas where an above-threshold temperature increase is expected. Preferably, the method further comprises segmenting the image data acquired by the camera to identify the electrosurgical instrument. Preferably, the method further comprises making a bi-dimensional projection of the image data acquired by the camera.

[0074]

[0073] . Example 1

[0075]

[0074] . According to an embodiment example, the electrosurgical instrument is automatically recognized by the system in the color image acquired by two cameras, said cameras being in a known mutual position, whereby the information on which pixels have been recognized as part of the electrosurgical instrument is translated on the thermal image,so as to identify which pixels of the thermal image are indicative of the electrosurgical instrument. Then, the system proceeds with the analysis of the temperature around the electrosurgical instrument. In particular, the system processes whether the increase in temperature is located in the distal zone of the instrument, i.e., the area of the electrode and the surroundings thereof, where a significant increase in temperature is expected, or if the increase in temperature belongs to other zones of the image (of the instrument) where such an increase in temperature is not expected. Then, based on the processing, the system can proceed, automatically, to interrupt the delivery of power of the electrosurgical instrument.

[0076]

[0075] . Example 2

[0077]

[0076] . According to this embodiment example, the system is capable of recognizing and discriminating an anomalous condition of power set too high, recognizing whether the area of tissue of the patient which is heated near the point of application of the electrosurgical current is much more extensive than expected, i.e., it extends beyond a distance D from the electrode of the electrosurgical instrument.

[0078]

[0077] . Example 3

[0079]

[0078] . According to this embodiment example, the system is capable of recognizing and discriminating an anomalous condition of rupture of the insulating layer of the elongated positioning rod, recognizing if the area of tissue that is heated is not in the vicinity of the electrode where instead a significant increase in temperature is expected.

[0080]

[0079] . By virtue of the features described above, provided either separately or in combination with one another in particular embodiments, it is possible to meet the aforementioned needs, obtaining the above-mentioned advantages, and in particular:

[0081]

[0080] . - it allows the use of digital vision image data to control the electrosurgical instrument, if an anomalous condition has been recognized and discriminated;

[0082]

[0081] . - it favors the safe and precise handling of an electrosurgical instrument with a long positioning rod, to reach natural and non-natural anatomical cavities, even deep, because the integrity of the insulating layer of the rod is monitored by the thermal camera, and in the event of an anomaly, which would generate a local temperature increase on the rod itself, prompt intervention on the power delivered by the electrosurgical instrument is guaranteed;

[0083]

[0082] . - by recognizing, in the image, the instrument and the electrode thereof (electrodes in the bipolar case) which typically belongs to an articulated terminal (surgical wrist), and the relative mapping on the thermal image, the system is capable of distinguishing whether the increase in temperature is expected or not, and therefore discriminating an anomalous condition;

[0084]

[0083] . - the corrective intervention of the system can be the limitation of the currentdelivered to the electrosurgical instrument, obtaining the limitation of the electrosurgical power;

[0085]

[0084] . - the corrective intervention of the system can be the interruption of the current delivered to the electrosurgical instrument;

[0086]

[0085] . - it is therefore possible to operate safely with electrosurgical energy by means of a robotic master-slave teleoperation system;

[0087]

[0086] . - the anomalous condition can be identified before the intervention, for example during a calibration and / or switching on of the electrosurgical instrument, by monitoring with a thermal camera;

[0088]

[0087] , - the images acquired by camera and thermal camera, following appropriate calibration and synchronization, can be arranged to overlap each other, and in such a manner, each pixel of the image is associated with a chromaticity value (also gray scale), and temperature;

[0089]

[0088] . - it allows interrupting the delivery of electrosurgical energy if an imminent collision of the electrosurgical instrument with an obstacle, such as another surgical instrument or an anatomical part, or if the electrosurgical instrument is invisible;

[0090]

[0089] . - the image acquisition device can comprise two color sensors (cameras) and a thermal sensor (thermal camera).

[0091]

[0090] . In order to meet specific, contingent needs, those skilled in the art may make several changes and adaptations to the above-described embodiments and can replace elements with others which are functionally equivalent, without departing from the scope of the appended claims.LIST OF REFERENCE SIGNS

[0092] 1 Robotic system

[0093] 2 Robotic manipulator

[0094] 4 Electrosurgical energy generator

[0095] 5 Electrosurgical instrument

[0096] 6 Image acquisition device

[0097] 10 Power cable

[0098] 14 Connector

[0099] 20 Cable operative block

[0100] 52 Instrument electrode

[0101] 54 Insulating section of the instrument

[0102] 100 Electronic control system

[0103] X1, X2 Regions of excessive local temperature

[0104] LWIR Thermal camera image data or thermal image data RGB Camera image data

[0105] P Patient

[0106] F Operating scene

Claims

CLAIMS1. Robotic system (1) for electrosurgical teleoperation comprising:- an electrosurgical instrument (5), suitable to operate in an operating scene;- one or more image acquisition devices (6), for image data (RGB, LWIR) acquisition of the operating scene;- an electronic control system (100), configured to automatically adjust the power of the electrosurgical instrument (5) based on the image data acquired by said one or more image acquisition devices (6).

2. System according to claim 1, wherein said one or more image acquisition devices comprise a thermal camera; and wherein said electronic control system (100) is configured to- identify one or more regions of excessive local temperature, based on the image data (LWIR) acquired by the thermal camera;- based on the one or more regions of excessive local temperature identified, automatically adjust, in particular limit or interrupt, the power of the electrosurgical instrument (5).

3. System according to claim 2, wherein said electronic control system (100) is configured to- acquire motion kinematics data of said electrosurgical instrument (5) in real time, such as from a robotic manipulator (2) associated with the electrosurgical instrument (5) and operated under control of the electronic control system;- coordinate the image data acquired by the thermal camera with the motion kinematics data, to identify and locate one or more regions of excessive local temperature;- based on the one or more regions of excessive local temperature identified and located, automatically adjust, in particular limit or interrupt, the power of the electrosurgical instrument (5).

4. System according to claim 1, wherein said one or more image acquisition devices comprise a thermal camera and a camera; and wherein said electronic control system (100) is configured to- coordinate the image data acquired by the thermal camera (LWIR) with the image data acquired by the camera (RGB), to identify and locate one or more regions of excessive local temperature;- based on the one or more regions of excessive local temperature identified and located, automatically adjust, in particular limit or interrupt, the power of the electrosurgical instrument (5).

5. System according to any one of the preceding claims, wherein the electronic control system (100) comprises a memory, for storing a model of expected local temperature of the operating scene and / or of the electrosurgical instrument; and wherein said electronic control system (100) is configured to- match the one or more identified regions of excessive local temperature with said model of expected local temperature;- based on the match, automatically adjust, in particular limit or interrupt, the power of the electrosurgical instrument (5).

6. System according to any one of the preceding claims, wherein the electrosurgical instrument (5) comprises an electrode (52); and wherein said electronic control system (100) is configured to locate said one or more identified regions of excessive local temperature with respect to said electrode (52).

7. System according to claim 1, wherein said one or more data acquisition devices comprise a camera; and wherein said electronic control system (100) is configured to - locate the surgical instrument, based on the image data acquired by the camera; - based on the localization of the electrosurgical instrument within the field of view of the camera, automatically adjust, in particular interrupt or limit, the power of the electrosurgical instrument (5).

8. System according to claim 7, wherein said electronic control system (100) is configured to- establish if the electrosurgical instrument is out of the field of view or near the limits of the field of view of the at least one camera;- automatically interrupt the power of the electrosurgical instrument (5).

9. System according to claim 7, wherein said electronic control system (100) is configured to- establish if the electrosurgical instrument is near an obstacle;- automatically interrupt the power of the electrosurgical instrument (5).

10. System according to any one of the preceding claims, wherein the electronic control system (100) is configured to:- process the image data acquired by the thermal camera to assign to each pixel a temperature value;- identify the pixels with temperature value over a threshold;- process the image data acquired by the camera to identify one or more regions where a temperature increase over a threshold is expected;- identify the pixels with temperature over a threshold that are not located within theone or more regions with expected temperature increase;wherein, preferably, the electronic control system (100) is configured to:- segment the image data acquired by the camera to identify the electrosurgical instrument;and / or- make a bi-dimensional projection of the image data acquired by the camera.

11. System according to any one of the preceding claims, comprising an electrosurgical energy generator (4) operatively connected to the electrosurgical instrument (5); wherein said electronic control system (100) is configured to transmit control signals to said electrosurgical energy generator (4) to adjust the power of the electrosurgical instrument (5).

12. System according to any one of the preceding claims, comprising a power cable (10) for the electrosurgical instrument (5), said power cable (10) comprising an operative block (20) configured to receive a control input and to adjust the current in transit in the power cable based on said control input; wherein said electronic control system (100) is configured to transmit said control input to said operative block (20) of the power cable (10).

13. Control method for electrosurgical teleoperation comprising:- acquiring image data (RGB, LWIR) of an operating scene;- based on the acquired image data, automatically adjusting the power of the electrosurgical instrument (5);preferably, wherein the method is for controlling a robotic system (1), according to any one of the preceding claims.

Images