Résumé
This work deals with the design, the implementation and the experimental validation of a force- reflecting teleoperation architecture for robotic assisted endoluminal surgery. On that account, a meso-scale surgical robot was used as target device to be teleoperated. This meso- robot was developed during the ARAKNES (Array of Robots Augmenting the Kinematics of Endoluminal Surgery) FP7 project, in which the key idea consisted on transferring the robotic degrees of freedom that are required for surgery inside the peritoneal cavity.