Robotic surgery and remotely controlled teleoperational systems are on the rise. However, serious limitations
arise on both the hardware and software side when traditional modeling and control approaches are taken.
These limitations include the incomplete modeling of robot dynamics, tool–tissue interaction, human–
machine interfaces and the communication channel. Furthermore, the inherent latency of long-distance signal
transmission may endanger the stability of a robot controller. All of these factors contribute to the very
limited deployment of real robotic telesurgery. This paper describes a stable hybrid fuzzy controller-based
architecture that is capable of handling the basic challenges. The aim is to establish high fidelity telepresence
systems for medical applications by easily handled modern control solution
