This paper presents the validation of a teleoperation system designed for remote center of motion (RCM) tasks, such as laparoscopic surgery. Robotic-assisted surgical systems have significantly enhanced precision and patient outcomes, yet challenges remain in ensuring intuitive and adaptive control between the surgeon and the robotic instrument. To address these challenges, this work introduces a master-slave teleoperation framework that incorporates a non-homothetic control approach, allowing for asymmetric motion scaling and adaptive kinematic mapping between the master and slave devices. Unlike conventional homothetic systems, which rely on direct proportionality between input and output motions, the proposed method compensates for structural and functional differences in the master and slave robots. By combining parallel and serial kinematics in the master device, the system effectively manages constraints associated with fixed-center rotation mechanisms, commonly found in medical robotics. Experimental validation demonstrates that the system enhances dexterity, stability, and responsiveness, particularly in complex surgical maneuvers where precise motion adaptation is critical. The results confirm that the non-homothetic transformation significantly improves the surgeon’s ability to perform delicate operations, ensuring greater control of fidelity and ergonomic efficiency in robotic-assisted procedures.