Over past decade, robots have been appearing in the operating room. Robots enhance surgery by improving precision, repeatability, stability, and dexterity. These qualities coupled with the human surgeon's judgment capabilities make a formidable combination. There are, however, many limitations to the application of robotics to surgery. In practice, these robotic systems can be difficult to use because of the limited dexterity and sensory feedback, as well as the major issue of safety. We may be able to solve the difficulties with dexterity, sensory feedback and safety through the use of small multi-DOF actuators, medical imaging technology, and compliant robotic manipulators. This paper presents our efforts to improve the issues of dexterity, sensory feedback and safety. For dexterity, we have developed a surgical tool using a compact multi-DOF ultrasonic actuator. For sensory feedback, we have developed virtual fixture using 3D medical imaging technology, which can also enhance safety. We are currently developing a novel robotic mechanism that generates human arm-like compliant motion.