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With the growing popularity of robotic surgery, education becomesincreasingly important and urgently needed for the sake of patient safety.However, experienced surgeons have limited accessibility due to their busyclinical schedule or working in a distant city, thus can hardly providesufficient education resources for novices. Remote mentoring, as an effectiveway, can help solve this problem, but traditional methods are limited to plaintext, audio, or 2D video, which are not intuitive nor vivid. Augmented reality(AR), a thriving technique being widely used for various education scenarios,is promising to offer new possibilities of visual experience and interactiveteaching. In this paper, we propose a novel AR-based robotic surgery remotementoring system with efficient 3D scene visualization and natural 3D handinteraction. Using a head-mounted display (i.e., HoloLens), the mentor canremotely monitor the procedure streamed from the trainee's operation side. Thementor can also provide feedback directly with hand gestures, which is in-turntransmitted to the trainee and viewed in surgical console as guidance. Wecomprehensively validate the system on both real surgery stereo videos andex-vivo scenarios of common robotic training tasks (i.e., peg-transfer andsuturing). Promising results are demonstrated regarding the fidelity ofstreamed scene visualization, the accuracy of feedback with hand interaction,and the low-latency of each component in the entire remote mentoring system.This work showcases the feasibility of leveraging AR technology for reliable,flexible and low-cost solutions to robotic surgical education, and holds greatpotential for clinical applications.

Robotic Surgery Remote Mentoring via AR with 3D Scene Streaming and Hand Interaction