Intuitive Arm Motion Transmission for Tele-Surgery based on Computer Vision and the Sawyer Robot

The global shortage of specialized surgeons poses a significant challenge to providing equitable surgical care, particularly in underserved regions where geographic and professional barriers limit access. This study introduces an intuitive computer vision-based telesurgery system utilizing a standard webcam, enabling surgeons to perform remote operations without the need for bulky or high-cost equipment. Additionally, a motion transmission system for the Sawyer robot was developed to accurately replicate human movement trajectories. Experiments were developed based on basic surgical movements. The results demonstrated an absolute mean error of 2.36 mm horizontally and 2.49 mm vertically for linear motions, and 3.93 mm for circular trajectories. These values fall within the operational range of 2.2 mm to 5.5 mm established by prior studies. Compared to existing systems with high implementation costs, the proposed method offers a more accessible and cost-efficient solution, making telesurgery more viable in resource-constrained environments. These findings highlight the potential of the system to reduce training time and enhance movement accuracy, thereby fostering the adoption of robotic-assisted telesurgery in underserved areas.