Abstract: A method conditions a surgical instrument of a robotic surgery system prior to use. An articulated end-effector has degree(s) of freedom, and a tendon, operatively connects with a motorized actuator of the robotic surgery system. The tendon mounts to the surgical instrument to connect to both a respective motorized actuator, among transmission elements, and degree(s) of freedom of the end-effector. The degree(s) of freedom are activated by respective motorized actuator action by the connected tendon. The method includes locking a degree(s) of freedom of the end-effector; tensile-stressing the respective tendon, operatively connecting the locked degree of freedom, by applying force, according to a time cycle, to the tendon. The time cycle includes a low-load period, in which a low conditioning force Flow is applied, which results in a low tensile load on the tendon; and a high-load period, in which force is applied, which results in high tensile load.

Abstract: A method of teleoperation preparation in a teleoperated robotic surgery system is performed during a non-operating step. The applicable robotic system includes motorized actuators, and a surgical instrument. The surgical instrument includes an articulated end-effector having a degree/degrees of freedom. The surgical instrument includes a pair of antagonistic tendons, mounted in the surgical instrument operatively connected/connectable to the motorized actuators and to the respective end-effector links. The antagonistic tendons actuate degree/degrees of freedom associated therewith, between the degree/degrees of freedom thus determining antagonistic effects. The method includes establishing a univocal correlation motorized actuators' movements and articulated end-effector movements. A holding step includes tensile-stressing a pair of antagonistic tendons, and holding the tendons in a tensile-stressed state, by applying a holding force to the tendons, adapted to determine a loaded state of the tendons.

Abstract: A method calibrates a surgical instrument of a teleoperated robotic surgery system. The surgical instrument has transmission elements associated with respective tendons and connected to an articulated end-effector connectable, to determine correlate movements between the transmission elements and articulated end-effector. Motorized actuators operatively connect to respective transmission elements to impart movement. The articulated end-effector is arranged and locked in a predetermined reference position univocally associated with a respective resulting position of each transmission element. The actuators are then actuated so each actuator contacts a respective transmission element and the position of the actuators when each actuator contacts a respective transmission element is stored, and the stored actuator reference positions are univocally associated with the end-effector reference position. A kinematic zero condition associates the stored actuator reference position with a virtual zero point.

Abstract: A method is for identifying at least one anomaly condition in using a hand-held, mechanically unconstrained master device to control a robotic system for medical or surgical teleoperation. The method includes detecting, by sensor(s), the position vector of a point belonging to or integral with the master device, or of a virtual point uniquely and rigidly associated with the master device. A detectable anomaly is identified based on the detected position vector, or based on a component of the detected position vector. The detectable anomalies include at least an incorrect positioning of the master device with respect to a predetermined workspace of the master device. Each of such detectable anomalies is associated with a system state change to be performed if the anomaly is detected, in which the state change includes exiting from the teleoperation state. A robotic system for medical or surgical teleoperation performs the method.

Abstract: A method identifies an anomaly condition in operating a hand-held, mechanically unconstrained master device for controlling a robotic system for medical or surgical teleoperation. The method includes detecting or calculating the velocity vector of a point belonging to or integral with the master device, or of a virtual point uniquely and rigidly associated with the master device. A detectable anomaly condition is identified and recognized and/or discriminated based on the detected velocity vector, or based on a vector component. The detectable anomalies include master device excessive angular or linear velocity, inability to follow by the slave device, excessive vibrations or involuntary or abnormal opening of the master device. Each detectable anomaly is associated with a system state change to be performed if the anomaly is detected. The state change includes exiting or suspension from the teleoperation state. A robotic system for medical or surgical teleoperation performs the method.

Abstract: A method is for identifying at least one anomaly condition in using a hand-held, mechanically unconstrained master device to control a robotic system for medical or surgical teleoperation. The method includes detecting, by sensor(s), the position vector of a point belonging to or integral with the master device, or of a virtual point uniquely and rigidly associated with the master device. A detectable anomaly is identified based on the detected position vector, or based on a component of the detected position vector. The detectable anomalies include at least an incorrect positioning of the master device with respect to a predetermined workspace of the master device. Each of such detectable anomalies is associated with a system state change to be performed if the anomaly is detected, in which the state change includes exiting from the teleoperation state. A robotic system for medical or surgical teleoperation performs the method.

Abstract: A method identifies an anomaly condition in operating a hand-held, mechanically unconstrained master device for controlling a robotic system for medical or surgical teleoperation. The method includes detecting or calculating the velocity vector of a point belonging to or integral with the master device, or of a virtual point uniquely and rigidly associated with the master device. A detectable anomaly condition is identified and recognized and/or discriminated based on the detected velocity vector, or based on a vector component. The detectable anomalies include master device excessive angular or linear velocity, inability to follow by the slave device, excessive vibrations or involuntary or abnormal opening of the master device. Each detectable anomaly is associated with a system state change to be performed if the anomaly is detected. The state change includes exiting or suspension from the teleoperation state. A robotic system for medical or surgical teleoperation performs the method.

Abstract: A method controls a robotic system for medical or surgical teleoperation. The robotic system includes a hand-held master device, mechanically unconstrained to the ground and moveable by an operator; and a slave device including a surgical instrument adapted to be controlled by the master device, so that movements of the slave device, or of the surgical instrument of the slave device, referred to one or more of a plurality of controllable degrees of freedom are controlled by respective movements of the master device, according to a master-slave control architecture. The method firstly includes the steps of defining a first enslaved state of the system and a second decoupled state of the system. A controller controls transitions between the first and second states. The controllable degrees of freedom include degrees of freedom of translation and of orientation. A master-slave robotic system for medical or surgical teleoperation performs the method.

Abstract: A method initiates and/or prepares a teleoperation by a robotic system for medical or surgical teleoperation. A hand-held master device is mechanically unconstrained and moved by an operator. A slave device includes a microsurgical instrument controlled by the master device. The robotic system includes a man-machine interface allowing the operator to communicate the intention to teleoperate to the robot. The method includes initiating teleoperation preparation; then performing alignment between master device and slave device, in which the slave device moves to align orientation of the surgical instrument to the master device. Teleoperation is entered after the alignment master and slave devices has been completed. First checks are conducted for entering the alignment, and enabling start of the alignment only if all first checks are passed. Before entering the teleoperation, second checks are conducted for enabling alignment, and enabling entry into teleoperation only if all second checks are passed.

Abstract: A method initiates and/or prepares and/or conducts teleoperation by a robotic system for medical or surgical teleoperation. The robotic system includes a master device, which is hand-held, mechanically unconstrained and moveable by an operator, and a slave device including a surgical instrument controlled by the master device. The master device is functionally symmetrical with respect to a predeterminable single, longitudinal axis of the master device. A local reference frame of the master device and the related longitudinal axis is detected, with respect to a main reference frame of the master device workspace; then, functionally equivalent local reference frames are detected. A corresponding target reference frame is mapped in a workspace of the slave device. An operating reference frame is detected according to criteria for optimization of the trajectory of the slave device. A robotic system for medical or surgical teleoperation is control led by the control method.