Robotic telesurgery is a promising application of robotics to medicine, aiming to enhance the dexterity and sensation of regular and minimally invasive surgery through using millimeter-scale robotic manipulators under control of the surgeon. With appropriate communication links, it would also be possible to perform remote surgery for care in rural areas where specialty care is unavailable, or to provide emergency care en route to a hospital. The second generation UC Berkeley/UCSF Telesurgical Workstation is a master-slave telerobotic system, with two pairs of 6 degree of freedom (DOF) master and slave robotic manipulators, designed for laparoscopic surgery. The slave manipulators have 2 DOF wrists inside the body to allow high dexterity manipulation in addition to the 4 DOF of motion possible through the entry ports, which are actuated by external gross motion platforms. The kinematics and the controller of the system are designed to accommodate the force and movement requirements of complex tasks, including suturing and knot tying. The system has force feedback in 4 axes to improve the sensation of telesurgery. In this paper, the telesurgical system will be introduced with discussion of kinematic and control issues and presentation of in vitro experimental evaluation results. ∗This work is supported in part by NSF under grant CDA 9726362 and IRI 9531837, ONR under MURI grant N14-96-1-1200, and ARO under MURI grant DaaH04-96-1-0341.