  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 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 head-mounted displays (HMDs). We
evaluate the feasibility and efficiency of our user interaction method compared
to 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.
