Master controller device comprising a wearable portion for robotic surgical and microsurgical teleoperation, and related system

A master controller device for a robotic surgical teleoperation system, comprising:

• at least one wearable portion comprising a pair of wearable elements for a surgeon's fingers;
• and
• a sensed control gripper for controlling at least one slave degree of freedom of a slave surgical instrument associable with the master controller device, said control gripper comprising two rigid parts movable with respect to each other;
• wherein the at least one wearable portion comprises at least one arm mounting a respective wearable element of said pair of wearable elements and connecting the respective wearable element to the sensed control gripper;
• and
• wherein the at least one arm provides at least one internal degree of freedom for the master controller device, and which allows reorienting and/or repositioning the respective wearable element of said pair of wearable elements with respect to the control gripper and with respect to the other wearable element of said pair of wearable elements.