  This paper presents the development and assessment of a teleoperation
framework for robot-assisted minimally invasive surgery (MIS). The framework
leverages our novel integration of an adaptive remote center of motion (RCM)
using admittance control. This framework operates within a redundancy
resolution method specifically designed for the RCM constraint. We introduce a
compact, low-cost, and modular custom-designed instrument module (IM) that
ensures integration with the manipulator, featuring a force-torque sensor, a
surgical instrument, and an actuation unit for driving the surgical instrument.
The paper details the complete teleoperation framework, including the
telemanipulation trajectory mapping, kinematic modelling, control strategy, and
the integrated admittance controller. Finally, the system capability to perform
various surgical tasks was demonstrated, including passing a thread through the
rings, picking and placing objects, and trajectory tracking.
