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Many minimally invasive surgical procedures are now performed using teleoperated robotic systems. However, such commercially available systems do not provide significant force feedback to the surgeon. In this paper, the design of a robotic master-slave system for laparoscopic surgery is discussed. A compact and light weight forceps's manipulator using pneumatic artificial muscles (PAMs) is used on the slave side and PHANTOM Omni is used as the master. This system is capable of providing haptic feedback to the surgeon without force sensor on the slave forceps. System design as well as master and slave bilateral control are discussed. Experimental results show that the developed system can display the slave contact force to the operator on the master side.