Method for detecting, based on the measurement or detection of velocities, operating anomalies of an unconstrained master device of a master-slave robotic system for medical or surgical teleoperation and related robotic system

A robotic system for medical or surgical teleoperation comprising:

• a master device, mechanically ungrounded and adapted to be hand held 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 robotic slave 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 robotic slave assembly, to actuate the at least one slave surgical instrument;
• wherein said control unit is configured to identify at least one anomaly, performing the following steps:
• detecting or calculating a velocity 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 velocity 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 one of the following anomalies:
• excessive linear velocity of the master device, excessive angular velocity of the master device, inability to follow by the slave device, excessive vibrations of the master device, involuntary or abnormal opening of the master device,
• and wherein each of said at least one detectable anomaly is associated with at least one state system change to be performed if one or more of the at least one detectable anomaly is detected, said at least one state change comprising exit from the teleoperation state or suspension of the teleoperation state.