The development of advanced surgical systems embedding the Master-Slave control strategy introduced the possibility of remote interaction between the surgeon and the patient, also known as teleoperation. The present paper aims to integrate innovative technologies into the teleoperation process to enhance workflow during surgeries. The proposed system incorporates a collaborative robot, Kuka IIWA LBR, and Hololens 2 (an augmented reality device), allowing the user to control the robot in an expansive environment that integrates actual (real data) with additional digital information imported via Hololens 2. Experimental data demonstrate the user's ability to control the Kuka IIWA using various gestures to position it with respect to real or digital objects. Thus, this system offers a novel solution to manipulate robots used in surgeries in a more intuitive manner, contributing to the reduction of the learning curve for surgeons. Calibration and testing in multiple scenarios demonstrate the efficiency of the system in providing seamless movements.

翻译：先进手术系统嵌入主从控制策略的发展，使得外科医生与患者之间实现远程交互（即遥操作）成为可能。本文旨在将创新技术整合至遥操作流程中，以提升手术工作流效率。所提出的系统集成了协作机器人Kuka IIWA LBR与增强现实设备HoloLens 2，允许用户在融合真实数据与HoloLens 2导入的数字化信息的扩展环境中控制机器人。实验数据表明，用户可通过多种手势控制Kuka IIWA机器人，使其相对于真实或数字对象进行定位。因此，该系统提供了一种更直观操控手术机器人的创新方案，有助于缩短外科医生的学习曲线。多场景下的校准与测试验证了系统在实现流畅运动方面的有效性。