  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.
