You still want air circulation, so if it really is only the thickness of the joists, I'd spray foam INSIDE the house on the ceiling and then build up another ceiling over. You'd have to remove/relocate any electrical though. You don't want any junction boxes in there. You want at least R60 for a roof/ceiling. New, I'd go even higher. R80+. That's where you lose all the heat, you can never insulate too much. Well there is a point of diminishing returns but more is always better.
This is also an instance where a ridge vent makes sense, as each joist cavity is it's own air passage so it needs to have an opening for each one. If it's a cottage style roof it gets a bit more complicated. I'm not sure what is the proper way for those when it's a vaulted ceiling.
In your case the part that shows having insulation is probably empty, and since it's lathe and plaster it would be a HUGE mess to remove, so I'd just spray foam on the ceiling from inside, and then build up another ceiling. (add some new joists before insulating).
Also that will actually be better as in that pic, the junction between the roof and the wall has an insulation "dead zone" where the double top plate is. That's a huge heat loss and is typical in even modern to code construction.