A teleoperated minimally invasive surgical system was implemented for laparoscopic surgery. The surgical manipulator has upper and lower arms akin to a human arm and has an elbow joint as an additional DoF joint. A remote controller was developed to measure the human arm position and deliver the angle data of the human arm to the surgical manipulator by TCP/IP communication. The human elbow angle change is used to activate the additional DoF joint of the surgical manipulator. The tooltip of the surgical manipulator has a wide approach angle from below the liver model toward the upper part of this model.