A Touch-Free Interface for 2D Telesurgery Using a UR5 Robot

Arteta-Flores P.; Aranda-Egusquiza S.; Callupe-Luna J. · Proceedings of the Annual International Conference on Control, Automation and Robotics, ICCAR (2025) · DOI: 10.1109/iccar64901.2025.11073029

Resumen

This study presents a touch-free telesurgery interface that uses computer vision to intuitively control a UR5e robotic system for 2D surgical tasks. The system aims to provide a scalable and cost-effective solution to enhance surgical precision and accessibility in undeserved regions. Robotic systems have transformed healthcare by enabling intricate procedures with enhanced accuracy and efficiency, reducing dependence on specialized surgeons and promoting access to care in resourceconstrained environments. The system uses a webcam to track the surgeon's movements on the XY plane, processes them via a controller, and replicates them precisely with the UR5e robot. A camera on the robot's end-effector provides real-time visual feedback for task monitoring via video call. The proposed system achieved a mean absolute error (MAE) of 2.52 mm, with taskspecific values of 1.47 mm and 1.04 mm for straight trajectories, and 4.77 mm and 2.81 mm for curved trajectories for Operators A and B, respectively. While the system's accuracy is comparable to existing robotic systems (2.0 mm to 5.0 mm range), the error in curved trajectories suggests the need for advanced control strategies, such as predictive or adaptive controllers, to enhance precision in more complex surgical tasks. By minimizing reliance on specialized equipment and facilitating intuitive user interaction, this system offers a robust, adaptable, and cost-effective approach to expand access to advanced surgical procedures, reduce operational errors, and address healthcare disparities globally.

Instituciones: Universidad de Ingeniería y Tecnología