**4.1 Teleoperation**

Telesurgery is one of the possible applications of surgical robot for the purpose of medicine in rural area, space, and battle field. In principle of surgical robot, master controller (operator site) and surgical robot (patient site) are connected only by

signal. So even if the whole system is in a room like da Vinci, they are teleoperation robot in nature. In the case of long distance between operator site and patient site, delay in the signal transmission is not negligible. Therefore, fast transmission lines are chosen and employed. Marescaux et al. demonstrated telesurgery experiment on human patient between US and France [50]. We also have also successfully carried out animal telesurgery experiments several times between Japan and Korea, Japan and Thailand by using our own robot system (**Figure 12**) [51, 52]. In this study, we have employed relatively low cost ISDN line and low latency CODEC technology.
