Computer hardware and computer software all for use with remote tele-surgical procedures for tele-operating manipulator arms using move commands issued by haptic master arms generating tactile feedback; computer hardware and computer software all for use with remote tele-surgical procedures for filtering and geometrically transforming move commands issued by haptic master arms generating tactile feedback and sensors mounted on manipulator arms and on haptic master arms generating tactile feedback; computer hardware and computer software all for use with remote tele-surgical procedures for detecting real time movement or pressure by sensors mounted on manipulators and haptic master arms generating tactile feedback; computer hardware and computer software all for use with remote tele-surgical procedures for setting-up and calibrating sensors and manipulator arms; computer hardware and computer software all for use with remote tele-surgical procedures for facilitating real-time communication between computers; computer hardware and computer software all for use with remote tele-surgical procedures for graphical user interfaces; computer hardware and computer software all for use with remote tele-surgical procedures for simulating manipulator arm behavior and surgical instruments interaction with tissues; computer hardware and computer software all for use with remote tele-surgical procedures for programming procedures to change instruments, inserting instruments in the patient body and manually operating manipulating arms through sensory information; computer hardware and computer software all for use with remote tele-surgical procedures for signaling abnormal forces applied on tissues, detecting electrical and mechanical faults and software and hardware failures, and signaling collisions between manipulator arms and between the arm and a human operator; computer hardware and computer software all for use with remote tele-surgical procedures for recording in real time data from sensors, manipulator arms and haptic master arms generating tactile feedback

Medical equipment for use in remote tele-surgical procedures, namely, robotic manipulator arms mounted on a movable base, equipped with actuators for surgical instruments and with sensors for detecting pressure or force, for detecting and identifying surgical instruments, and for detecting personnel safety; medical equipment for use during surgical procedures, namely, haptic master arms with foot switches for generating tactile feedback; medical electronic equipment and surgical instruments, namely, surgical drapes, trocars, medical biopsy brushes, laparoscopes, endoscopes, ultrasound probes, electro-cautery tools, clip appliers and clips, tack appliers and tacks, cannulae, scalpels, scalpel blades, dissectors, forceps scissors, clamps, graspers, staplers, heaters and calibrators, insufflators, suction probes, irrigation probes, needle holders and ligature carriers all for use in remote surgical procedures

Design and development of computer software used in the medical and scientific fields and used with apparatus for remote controlled surgery