FPGA‐Based Low‐Latency Semantic Feedback System for Real‐Time Instrument Localization in Telesurgery

BACKGROUND: Telesurgery is limited by visual latency, compromising master-slave synchronization and safety. This study proposes a real-time semantic feedback framework that reduces latency while maintaining millimetre-level localization accuracy. METHODS: We developed a low-latency semantic feedback system for real-time instrument localization using a custom visual marker and FPGA-based extraction. The system was evaluated through phantom experiments, accuracy benchmarking against the NDI system, latency measurement, and task-based evaluation under delayed visual feedback conditions. RESULTS: 1.4 ms. Task-based evaluation further showed significantly reduced task completion time under delayed visual feedback. CONCLUSIONS: The proposed system provides robust, precise, and low-latency semantic feedback and demonstrates potential to mitigate the impact of visual latency on surgical performance, supporting its application in future telesurgical systems pending further in vivo validation.