ABSTRACT
— Robotic-Assisted Minimally Invasive Surgery (RAMIS) has revolutionized surgical interventions by enhancing precision, reducing patient trauma, and improving recovery outcomes. This study presents a novel dual-robot implementation strategy designed to augment the capabilities of RAMIS through cooperative manipulation and parallel task execution. The system comprises two 6-degree-of-freedom robotic arms (D-H configured), each equipped with force-torque sensors, endoscopic cameras, and tool interchangeability mechanisms. The control framework employs a master-slave teleoperation scheme with real-time haptic feedback and vision-based target tracking, implemented using a ROS-based middleware for modularity and integration. A hybrid control architecture combines impedance control for compliant interaction with tissues and position control for precision maneuvers. The system was validated in both bench-top simulations and ex-vivo case studies, including laparoscopic suturing, tissue dissection, and vessel anastomosis. Quantitative metrics from these trials demonstrated a 25% reduction in task completion time, a 30% improvement in path accuracy, and significantly lower applied forces compared to single-arm robotic systems. Surgeon feedback highlighted enhanced bimanual coordination, intuitive control, and reduced cognitive load during complex tasks. These findings suggest that dual-robot configurations in RAMIS can offer substantial benefits in terms of efficiency, safety, and scalability, supporting their potential for clinical integration in high-precision surgical domains such as urology, gynecology, and cardiovascular procedures.