Virtual Reality (VR) interfaces are increasingly used as remote visualization media in telerobotics. Remote environments captured through RGB-D cameras and visualized using VR interfaces can enhance operators' situational awareness and sense of presence. However, this approach has strict requirements for the speed, throughput, and quality of the visualized 3D data.Further, telerobotics requires operators to focus on their tasks fully, requiring high perceptual and cognitive skills. This paper shows a work-in-progress framework to address these challenges by taking the human visual system (HVS) as an inspiration. Human eyes use attentional mechanisms to select and draw user engagement to a specific place from the dynamic environment. Inspired by this, the framework implements functionalities to draw users's engagement to a specific place while simultaneously reducing latency and bandwidth requirements.