Disclosed is a highly backdrivable robotic forceps that can have up to 7 degrees of freedom (DOF) similar to the human wrist/hand and that enables 7 DOF force estimation for use in minimal invasive robotic surgical systems and a robotic forceps control system and method allowing force feedback teleoperation (bilateral) of said robotic forceps. The robotic forceps mechanism is a structure capable of bilaterally controlled motion and having the capability to mimic the hand movements of a surgeon and reflection of the forces on the forceps tip to the surgeon's control interface. Control and estimation of forces applied on the forceps tip can be achieved thanks to the novel backdrivable structure of the robotic forceps mechanism and the control system and method presented here.
