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Minimally invasive surgery (MIS) is a cost‐effective alternative to the open surgery whereby essentially the same operations are performed using specialized instruments designed to fit into the body through several tiny punctures instead of one large incision. The EndoBots (Endoscopic Robots) described here are designed for collaborative operation between the surgeon and the robotic device. The surgeon can program the device to be operated completely manually, collaboratively where motion of the robotic device in certain directions is under computer control and in others under manual surgeon control, or autonomously where the complete device is under computer control. Furthermore, the robotic tools can be quickly changed from a robotic docking station, allowing different robotic tools to be used in an operation.

Sets out to discuss lessons learned from the creation and use of an over‐the‐internet teleoperation testbed.

Seven lessons learned from the testbed are presented.

This teleoperation interface improves task performance, as proved by a single demonstration.

In helping to overcome time‐delay difficulties in the operation, leading to dramatically improved task performance, this study contributes significantly to the improvement of teleoperation by making better use of human skills.