Method and system for hand control of a teleoperated minimally invasive slave surgical instrument

A method comprising:

• receiving a first location of a first sensor and a second location of a second sensor, the receiving being at a hand tracking controller, the first sensor being mounted on a first unique part of a human hand, and the second sensor being mounted on a second unique part of the human hand;
• determining a relative motion between the first and second unique parts of the human hand, the determining being by the hand tracking controller and based on the relative motion between the received first location and the received second location;
• and
• controlling orientation of a device in a surgical system, the controlling being by a controller and based on the determined relative motion.

A surgical system comprising:

• a first sensor element configured to be mounted on a first unique part of a human hand;
• a second sensor element configured to be mounted on a second unique part of a human hand;
• a hand tracking system being coupled to the first and second sensors, the hand tracking system being configured to track a first location of the first sensor and to track a second location of the second sensor;
• and
• a controller coupled to the hand tracking system, the controller being configured to transform the first and second locations to a control point position and a control point orientation of a single control point, and the controller being configured to send a command to move a device of the surgical system, the command being based on the single control point.