Robotic surgery has reached a high level of maturity and has become an integral part of standard surgical care. However, existing surgeon consoles are bulky, take up valuable space in the operating room, make surgical team coordination challenging, and their proprietary nature makes it difficult to take advantage of recent technological advances, especially in virtual and augmented reality. One potential area for further improvement is the integration of modern sensory gloves into robotic platforms, allowing surgeons to control robotic arms intuitively with their hand movements. We propose one such system that combines an HTC Vive tracker, a Manus Meta Prime 3 XR sensory glove, and SCOPEYE wireless smart glasses. The system controls one arm of a da Vinci surgical robot. In addition to moving the arm, the surgeon can use fingers to control the end-effector of the surgical instrument. Hand gestures are used to implement clutching and similar functions. In particular, we introduce clutching of the instrument orientation, a functionality unavailable in the da Vinci system. The vibrotactile elements of the glove are used to provide feedback to the user when gesture commands are invoked. A qualitative and quantitative evaluation has been conducted that compares the current device with the dVRK console. The system is shown to have excellent tracking accuracy, and the new interface allows surgeons to perform common surgical training tasks with minimal practice efficiently.

翻译：机器人手术已达到高度成熟，并成为标准外科护理不可或缺的组成部分。然而，现有的外科医生控制台体积庞大，占用了手术室宝贵空间，使手术团队协作面临挑战，且其专有特性难以充分利用近年来的技术进步，特别是在虚拟现实和增强现实领域。一个潜在的改进方向是将现代传感手套集成到机器人平台中，使外科医生能够通过手部运动直观地控制机械臂。我们提出了一种结合HTC Vive追踪器、Manus Meta Prime 3 XR传感手套和SCOPEYE无线智能眼镜的系统。该系统控制达芬奇手术机器人的单条机械臂。除移动机械臂外，外科医生还可通过手指控制手术器械的末端执行器。手势操作用于实现离合及类似功能。我们特别引入了器械方向离合功能，这是达芬奇系统所不具备的特性。手套的振动触觉元件在激活手势指令时为用户提供反馈。通过定性与定量评估，将本设备与dVRK控制台进行了对比。研究表明，该系统具有优异的追踪精度，且新界面使外科医生能够经过少量练习即可高效完成常见的外科训练任务。