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水平，并成为标准外科护理中不可或缺的组成部分。然而，现有外科医生控制台体积庞大，占据了手术室宝贵空间，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，尤其是在虚拟现实与增强现实领域。一个潜在的改进方向是将现代传感手套集成至机器人平台，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传感手套与SCOPEYE无线智能眼镜的系统。该系统可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。特别地，我们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可在手势指令激活时为用户提供反馈。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。结果表明，该系统具有卓越的追踪精度，且新界面能使外科医生在少量练习后即可高效完成常见的外科培训任务。