MiroSurge is a robotic system for minimally invasive surgery. The surgeon operates three robots. Two robots carry minimally invasive instruments. The third robot is equipped with a stereo HD endoscope. A preoperative planning optimizes the robotic setup with a focus on efficiency and safety. This planning data is mapped onto the patient's position intraoperatively by utilizing an optic sensor system. During setup of the robots, the intuitive hands-on control mode as well as a handheld command device is applied. The surgeon controls the robots during surgery from a remote console. Besides autostereoscopic 3D video, this console enables bimanual force-feedback in 6+1 degrees of freedom. Alternatively, the system can be operated with optically tracked instruments.