  Traditional telesurgery relies on the surgeon's full control of the robot on
the patient's side, which tends to increase surgeon fatigue and may reduce the
efficiency of the operation. This paper introduces a Robotic Partner (RP) to
facilitate intuitive bimanual telesurgery, aiming at reducing the surgeon
workload and enhancing surgeon-assisted capability. An interval type-2
polynomial fuzzy-model-based learning algorithm is employed to extract expert
domain knowledge from surgeons and reflect environmental interaction
information. Based on this, a bimanual shared control is developed to interact
with the other robot teleoperated by the surgeon, understanding their control
and providing assistance. As prior information of the environment model is not
required, it reduces reliance on force sensors in control design. Experimental
results on the DaVinci Surgical System show that the RP could assist
peg-transfer tasks and reduce the surgeon's workload by 51\% in
force-sensor-free scenarios.
