Handle for robotic surgery

A haptic handling system for tele-robotic surgery, the haptic handling system comprising:

• one or more processors;
• a handle at a master robot comprising:
• a main body;
• a fine-tuning roll mechanism, comprising:
• a knob mounted rotatably around the main body;
• a roller coupled to the knob, the roller configured to rotate responsive to a rotation of the knob about a first axis, the knob configured to rotate about the first axis responsive to a rotation of the roller;
• and
• a roll encoder coupled to the roller, the roll encoder configured to transmit a first set of data based on the rotation of the knob to the one or more processors;
• and
• a grasp control mechanism, comprising:
• a slider, comprising:
• an external slider mounted slidably around the main body;
• an internal slider disposed slidably inside the main body, the internal slider coupled to the external slider, the internal slider configured to slide along a second axis responsive to a linear movement of the external slider along the second axis;
• a lead screw comprising a cylindrical structure, the lead screw coupled to the internal slider, the lead screw configured to rotate about the second axis responsive to the linear movement of the external slider, the external slider configured to slide along the second axis responsive to a rotational movement of the lead screw;
• and
• a grasp encoder coupled to the lead screw, the grasp encoder configured to transmit data based on the linear movement of the external slider to the one or more processors;
• a roll actuator coupled to the roller, wherein responsive to a rotational movement of the roll actuator, the knob rotates around the first axis;
• and
• a grasp actuator coupled to the lead screw, wherein responsive to a rotational movement of the grasp actuator, the external slider moves linearly along the second axis;
• and
• a force feedback system comprising one or more dynamometers at a slave robot configured to measure a magnitude and a direction of a couple and also configured to measure a magnitude and a direction of a force applied to the surgical tool,
• wherein the one or more processors are further configured to:
• receive a set of couple data from the one or more dynamometers, the set of couple data comprising data associated with or related to the magnitude and the direction of the couple applied to the surgical tool;
• receive a set of force data from the second dynamometer, the set of force data comprising data associated with or related to the magnitude and the direction of the force applied to the surgical tool;
• transmit a second set of data to the roll actuator comprising commands associated or related to movement of the knob based on the set of couple data;
• and
• transmit a third set of data to the grasp actuator comprising commands associated or related to movement of the external slider based on the set of force data.