This thesis studies the problem of minimal invasive telesurgery. In this research fidelity criteria is introduced, since slave robot interacts with soft tissues in telesurgery. Impedance control and sliding impedance control is used for master and slave robot, respectively. Impedance control parameters of master side are determined by small gain method to maintain the stability of the total closed loop system in the case of spring- damper environment on slave side and constant delay in communication channel is also considered. Parameters of slave controller are obtained from the optimization problem with fidelity cost function and robust constraint against uncertain environment. Also, Stability of the closed loop system with proposed control stucture is guaranteed by input to state stability method when the delay in communication channel is time varying. Finally, proposed control structure is implemented on haptic omni and virtual reality SMOS robot as master and slave robot, respectively and the results of the different scenarios such as free motion and constraint motion with constant and variable time delay time in the communication channel is presented. Also Stability and performance of the closed loop system with the proposed control structure is examined and satisfactory results are obtained.