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Robotic teleoperation brings great potential for advances within the field ofsurgery. The ability of a surgeon to reach patient remotely opens excitingopportunities. Early experience with telerobotic surgery has been interesting,but the clinical feasibility remains out of reach, largely due to thedeleterious effects of communication delays. Teleoperation tasks aresignificantly impacted by unavoidable signal latency, which directly results inslower operations, less precision in movements, and increased human errors.Introducing significant changes to the surgical workflow, for example byintroducing semi-automation or self-correction, present too significant atechnological and ethical burden for commercial surgical robotic systems toadopt. In this paper, we present three simple and intuitive motion scalingsolutions to combat teleoperated robotic systems under delay and help improveoperator accuracy. Motion scaling offers potentially improved user performanceand reduction in errors with minimal change to the underlying teleoperationarchitecture. To validate the use of motion scaling as a performance enhancerin telesurgery, we conducted a user study with 17 participants, and our resultsshow that the proposed solutions do indeed reduce the error rate when operatingunder high delay.

Motion Scaling Solutions for Improved Performance in High Delay Surgical Teleoperation