Method for controlling a robotic system for medical or surgical teleoperation, having a mechanically unconstrained master device being movable by an operator, with control of local reference coordinate frames and robotic system using the method

A robotic system for medical or surgical teleoperation, comprising at least one master device, which is hand-held, mechanically unconstrained and adapted to be moved by an operator, and at least one slave device comprising a surgical instrument adapted to be controlled by the master device,

• wherein the master device is functionally symmetrical with respect to a predeterminable single, longitudinal axis of the master device,
• wherein the system is configured to carry out the following actions:
• detecting a local reference frame of the master device and the longitudinal axis thereof of the master device, with respect to a main reference frame of a workspace of the master device;
• defining a plurality of local reference frames which are functionally equivalent to the local reference frame detected, said local reference frames being rotated by a respective angle about said longitudinal axis of the master device;
• mapping a corresponding target reference frame in a workspace of the slave device for each of said local reference frames of the master device of said plurality of local reference frames functionally equivalent to the local reference frame detected;
• selecting an operating reference frame, from said plurality of local reference frames functionally equivalent to the local reference frame detected, according to criteria for optimization of the trajectory of the slave device, wherein the system also comprises:
• a control unit configured to carry out said actions of detecting, defining, mapping and selecting.