  In adult laparoscopy, robot-aided surgery is a reality in thousands of
operating rooms worldwide, owing to the increased dexterity provided by the
robotic tools. Many robots and robot control techniques have been developed to
aid in more challenging scenarios, such as pediatric surgery and microsurgery.
However, the prevalence of case-specific solutions, particularly those focused
on non-redundant robots, reduces the reproducibility of the initial results in
more challenging scenarios. In this paper, we propose a general framework for
the control of surgical robotics in constrained workspaces under teleoperation,
regardless of the robot geometry. Our technique is divided into a slave-side
constrained optimization algorithm, which provides virtual fixtures, and with
Cartesian impedance on the master side to provide force feedback. Experiments
with two robotic systems, one redundant and one non-redundant, show that smooth
teleoperation can be achieved in adult laparoscopy and infant surgery.
