Master controller assembly (102) for a robotic surgery system (101) comprising at least one slave robot assembly (103), comprising a slave surgical instrument (104), a control unit (105)； wherein said master controller assembly (102) comprises at least one portable hand-held master input tool (106), at least one manipulandum surface (109, 110), designed to be hand-held by the surgeon's fingers (111, 112)； said master input tool (106) is mechanically unconstrained from said slave robot assembly (103), in such way that said master input tool (106) being naturally movable, rotatable and spinnable by a surgeon； said at least one manipulandum surface (109, 110) is a convex surface； and wherein said master input tool (106) comprises a first elongated element (113) having an first element elongated body (114), wherein said first element elongated body (114) is a rigid body； said master input tool (106) comprises a second elongated element (115) having an second element elongated body (116), wherein said second element elongated body (116) is a rigid body； said master input tool (106) comprises a tool joint (118) connecting and articulating said first element elongated body (114) and said second element elongated body (116)； said master controller assembly (102) comprises at least one sensing assembly (119) detecting at least the mutual position of said first element elongated body (114) and said second element elongated body (116), so that a gripping pressure action exerted by the surgeon's fingers (111, 112) on said master input tool (106) moving said first element elongated body (114) and said second element elongated body (116) close one another other determines a paired grip motion of said surgical grip device (117).La présente invention concerne un ensemble contrôleur maître (102) pour un système chirurgical robotisé (101) comprenant au moins un ensemble robot esclave (103), comprenant un instrument chirurgical esclave (104), une unité de commande (105) ； ledit ensemb
