• accuracy
• hand tracking
• Leap Motion Controller
• microsurgery
• occlusion
• precision
• resolution
• ROS2
• simulation validation
• surgical robot
• Symani

This work contributes to the development of teleoperated surgical robotics addressing the limitations of physical controllers. This goal is obtained by designing a control system based on hand tracking. Starting from the selection of the tracking device, this thesis has analyzed aspects such hand pose mapping to robot control, camera placement and a specific study on the surgical gripping task. A dedicated software has been developed to acquire the data from the tracking device and send control commands to a commercial microsurgical robot. The software overcomes the limitations of the tracking system comprising a computer vision-based approach to enhance gripping accuracy. The hand tracking system is evaluated in terms of accuracy, resolution, and precision to ensure compliance with surgical requirements. Finally tests of integration with the robotic system have been conducted. The results demonstrate the feasibility of using hand tracking as a control method, while also highlighting its limitations.