Method for detecting operating anomalies of an unconstrained master device of a master-slave robotic system for medical or surgical teleoperation and related robotic system

A method for managing anomalies identified in a master device of a master-slave robotic system for surgical or medical teleoperation, the master device being hand-held, and adapted to be held in hand by an operator, to control a robotic system for medical or surgical teleoperation, the master device being mechanically unconstrained relative to said robotic system;

• the method comprising the steps of:
• detecting, by one or more sensors, a position vector of at least one point belonging to or integral with the master device, or of a virtual point uniquely and rigidly associated with the master device;
• identifying and recognizing and/or discriminating at least one detectable anomaly based on said at least one detected position vector, or based on at least one component of the at least one detected position vector,
• wherein said at least one detectable anomaly comprises at least an incorrect positioning of the master device with respect to a predetermined workspace of the master device,
• wherein each of said at least one detectable anomaly is associated with at least one system state change to be performed if the at least one detectable anomaly is detected, said at least one state change comprising exit from a teleoperation state,
• wherein a suspended teleoperation volume is defined, which extends around the master device workspace and is larger than the master device workspace,
• said suspended teleoperation volume being a volume in which the robotic system provides for a suspended teleoperation,
• wherein the suspended teleoperation is a limited teleoperation which prevents at least translation movements of a control point of a slave device, or which limits rotational movements of the control point of the slave device, or which prevents all movements of the control point of the slave device,
• the method comprising the further step of:
• switching from the teleoperation state to a suspended teleoperation state when the master device exits the workspace limits and enters the suspended teleoperation volume,
• if at least any one of said at least one anomaly condition is determined, immediately stopping or suspending the teleoperation and movements of a surgical instrument of the slave device.

A robotic system for medical or surgical teleoperation comprising:

• a master device, adapted to be held in hand by a surgeon during surgery, and configured to detect a manual command of the surgeon and generate a respective first electrical command signal;
• at least one slave device, or slave robotic assembly, comprising at least one slave surgical instrument configured to operate on a patient, in a manner controlled by the master device;
• a control unit provided with a computer, configured to receive said first electrical command signal from the master device, generate a second electrical command signal, based on the first electrical command signal, and provide the second electrical command signal to the slave robotic assembly, to actuate the at least one slave surgical instrument;
• wherein said control unit is configured to:
• detect, by one or more sensors with which the control unit is operatively connected, a position vector of at least one point belonging to or integral with the master device, or of a virtual point uniquely and rigidly associated with the master device;
• identifying and recognizing and/or discriminating at least one detectable anomaly based on said at least one detected position vector, or based on at least one component of the at least one detected position vector,
• wherein said at least one detectable anomaly comprise at least an incorrect positioning of the master device with respect to a predetermined of the master device,
• and wherein each of said at least one detectable anomaly is associated with at least one system state change to be performed if the at least one detectable anomaly is detected, said at least one state change comprising exit from a teleoperation state,
• wherein a suspended teleoperation volume is defined, which extends around a master device workspace and is larger than the master device workspace,
• said suspended teleoperation volume being a volume in which the robotic system provides for a suspended teleoperation,
• wherein the suspended teleoperation is a limited teleoperation which prevents at least translation movements of a control point of a slave device, or which limits rotational movements of the control point of the slave device, or which prevents all movements of the control point of the slave device,
• wherein the control unit of the robotic system is further configured to cause switching from the teleoperation state to a suspended teleoperation state when the master device exits limits of the workspace and enters the suspended teleoperation volume.