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 and take up valuable space in the operating room, present challenges for surgical team coordination, 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 directly with their hand movements intuitively. We propose one such system that combines an HTC Vive tracker, a Manus Meta Prime 3 XR sensory glove, and God Vision 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 not available 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 preliminary evaluation of the system shows that it has excellent tracking accuracy and allows surgeons to efficiently perform common surgical training tasks with minimal practice with the new interface; this suggests that the interface is highly intuitive. The proposed system is inexpensive, allows rapid prototyping, and opens opportunities for further innovations in the design of surgical robot interfaces.

翻译：机器人手术已达到较高成熟度，并已成为标准外科护理的重要组成部分。然而，现有外科医生控制台体积庞大，挤占手术室宝贵空间，给手术团队协调带来挑战，且其专有性质使得难以利用虚拟现实和增强现实等最新技术进步。进一步改进的潜在方向之一是将现代传感手套整合到机器人平台中，使外科医生能够通过直观的手部运动直接控制机械臂。我们提出了一种结合HTC Vive追踪器、Manus Meta Prime 3 XR传感手套和God Vision无线智能眼镜的系统。该系统可控制达芬奇手术机器人的一条机械臂。除了移动机械臂外，外科医生还可使用手指控制手术器械的末端执行器。手势用于实现离合及类似功能。特别地，我们引入了器械姿态的离合功能，这是达芬奇系统所不具备的。当调用手势指令时，手套的振动触觉元件向用户提供反馈。系统初步评估表明，其追踪精度优异，外科医生只需极少练习即可通过新界面高效完成常见手术训练任务，表明该界面高度直观。所提系统成本低廉、支持快速原型开发，并为手术机器人界面设计的进一步创新开辟了可能性。