Minimally Invasive Surgery (MIS) procedures, such as laparoscopy, have excited up-to-date surgery by decreasing incisions, minimizing patient recovery, time and cost. been encouraged and facilitated by teleoperated surgical robotic systems. But surgical processes using long surgical tool through small incisions on the patient abdomen lack surgeons of dexterity, sense of touch, and hand-eye coordination that they are familiar in open surgery. Robot-assisted surgery via teleoperation is favorable path to overcome these hurdles. Teleoperation refers to the remote manipulation of a slave machine by a master device over a certain distance. The teleoperation process extends the presence of the human operator and his/her ability to perform complex tasks in inaccessible environments for humans.