Teleoperation platforms often require the user to be situated at a fixed location to both visualize and control the movement of the robot and thus do not provide the operator with much mobility. One example of such systems is in existing robotic surgery solutions that require the surgeons to be away from the patient, attached to consoles where their heads must be fixed and their arms can only move in a limited space. This creates a barrier between physicians and patients that does not exist in normal surgery. To address this issue, we propose a mobile telesurgery solution where the surgeons are no longer mechanically limited to control consoles and are able to teleoperate the robots from the patient bedside, using their arms equipped with wireless sensors and viewing the endoscope video via optical see-through HMDs. We evaluate the feasibility and efficiency of our user interaction method with a standard surgical robotic manipulator via two tasks with different levels of required dexterity. The results indicate that with sufficient training our proposed platform can attain similar efficiency while providing added mobility for the operator.

翻译：远程操作平台往往要求用户位于固定地点,既可视化又可控制机器人的移动,因此无法为操作者提供大量机动性。这种系统的一个例子就是现有的机器人外科手术解决方案,这些解决方案要求外科医生远离病人,将其附在控制台,其头必须固定,其手臂只能在有限的空间移动。这在医生和病人之间造成了障碍,而正常手术中不存在这种障碍。为了解决这一问题,我们提议了移动远程手术解决方案,即外科医生不再机械地局限于控制控制控制控制控制台,能够从病人床边将机器人远程操作,使用配有无线传感器的武器,通过光学透视HMD查看内镜视频。我们评估了我们用户与标准手术机操纵器的互动方法的可行性和效率,通过两个不同层次的所需灵敏度任务进行。结果显示,通过充分培训,我们提议的平台可以达到类似的效率,同时为操作者提供更大的机动性。