Keywords: Control , Hardware ,

Medical robotics and computer aided surgery in general, and robotic telesurgery in particular, are promising applications of robotics. In this report, various aspects of telesurgery are studied.
After a general introduction to laparoscopic surgery and medical applications of robotics, in the first part, the UC Berkeley Telesurgical Workstation, a master-slave telerobotic system for laparoscopic surgery, is introduced, followed by its kinematic analysis and discussion on its control. In the second part, conceptual and future issues on telesurgery are studied in detail, including discussions on teleoperation, hybrid control and visualization. Discussions on teleoperation introduce the fidelity-stability trade-off in tele-operation systems, give a general overview of the control algorithms present in the literature, and discuss the special requirements of telesurgery. Hybrid control is used to design the least restrictive control law for the telesurgical robot to limit the interaction forces for guaranteed safe operation. The visualization section discusses the general problems of the display system used in laparoscopic surgery, and proposes ways to overcome them, with a case study on 3D surface reconstruction from camera motion in laparoscopic images.