Method for keeping a surgical instrument of a robotic surgery system, during its movement control, within the field of view of a viewing system and related robotic surgery system

A robotic system for medical or surgical teleoperation, comprising:

• at least one surgical instrument, adapted to operate in teleoperation;
• viewing means configured to display images and/or videos to the operator of at least one viewing space associated with a teleoperation area in which the surgical instrument operates,
• a control unit configured to control the surgical instrument, wherein the control unit is further configured to:
• determine whether a position of the surgical instrument is within an allowed space correlated to a first viewing space, wherein the first viewing space is used as the current viewing space for the teleoperation, with respect to which a current visualization is provided to the operator;
• automatically provide a second visualization, by the viewing means, when in said determining step, a determination is made that said position of the surgical instrument is not within said allowed space correlated to the first viewing space,
• wherein said second visualization defines a second viewing space having a greater surface or a greater field of view than said first viewing space and containing, or partially containing, said first viewing space;
• and wherein said second visualization comprises:
• a combination and/or superimposition of said second viewing space and said first viewing space, and/or
• a switching, by controlling optical and/or digital parameters of said viewing means without mechanical movements, from said first viewing space to said second viewing space.