**2.4 MiroSurge system**

German aerospace center (DLR) developed MiroSurge system (**Figure 4**) [8, 9]. It also has independent, light weight, and compact robotic arms for each instrument, which could be fixed directly on the operating bed. Force feedback feature is implemented to the instruments. Unique feature is that the operator can move the robotic arm directly by hand touching the arm. By using this function, for example, an assistant operator can easily make a room at bed side. Medtronic is licensed this robot.
