You can read data from Oracle Spatial DBs using GDAL/OGR:
http://www.gdal.org/ogr/drv_oci.html
if you have the driver in your GDAL/OGR installation. If:
require(rgdal)
ogrDrivers()
shows the Oracle driver then you can use readOGR
with all the parameters in the right place.
At a guess, and by analogy with the PostGIS example, I'd say try:
dsn="OCI:userid/password@database_instance:")
ogrListLayers(dsn)
s = readOGR(dsn, layername)
but I don't have an Oracle server to test it on (if I did I'd ditch it tomorrow for PostGIS, and spend the license saving on a yacht) and you don't sound certain its an Oracle server anyway. The general principle for connecting to any spatial database is the same - check you have an OGR driver, figure out what the dsn
parameter looks like, try it.
Another way is to go via ODBC, or another non-spatial R database connection. However you'll likely get back the spatial data in WKB or WKT form and have to convert to SpatialWhatevers (point, lines, polygons?).
PostGIS example is here: