Teleoperated robot-assisted surgery (RAS) is becoming very popular in certain types of surgical procedures and has been proven to be more dexterous, precise and minimum invasive. However, current RAS systems requires the surgeon to manipulate cumbersome joysticks in a master console. The great amount of training time required for manipulating those devices is bringing down the overall performance of the RAS system. To address this problem, we proposed an innovative control interface where the surgeon can perform freehand gestures to conduct the surgery. Such interfaces are based on touchless devices (Leap Motion and Kinect) and computer vision techniques. A comprehensive evaluation of the proposed system justified its comparable performance with the traditional interfaces in multiple perspectives.