In this chapter we summarize the development and the findings of the project ARS, an ERC Advanced Grant funded by the European Union in 2017 for five years. Due to the COVID-19 pandemic, the project was extended to six years till September 30th 2023 allowing the completion of the experiments that were interrupted because of the pandemic. Section 1 summarizes the ARS objectives and points out some of the unexpected results that we have achieved, as it should happen in research. Section 2 summarizes the book organization in three Parts and sixteen chapters. In the first Part we include the (mostly) theoretical results, in the second Part we present the simulation and experimental validations of the results, and in the third Part of the book we describe the non-technical issues related to ethical and social aspects of robotic autonomy in surgery, to communicate our finding to different audiences, and to the exploitation of the ARS project results. Section 3 gives some indication on a few, among the many, open questions that researcher will have to solve to move forward in this field.