  Medical robotics can help improve and extend the reach of healthcare
services. A major challenge for medical robots is the complex physical
interaction between the robot and the patients which is required to be safe.
This work presents the preliminary evaluation of a recently introduced control
architecture based on the Fractal Impedance Control (FIC) in medical
applications. The deployed FIC architecture is robust to delay between the
master and the replica robots. It can switch online between an admittance and
impedance behaviour, and it is robust to interaction with unstructured
environments. Our experiments analyse three scenarios: teleoperated surgery,
rehabilitation, and remote ultrasound scan. The experiments did not require any
adjustment of the robot tuning, which is essential in medical applications
where the operators do not have an engineering background required to tune the
controller. Our results show that is possible to teleoperate the robot to cut
using a scalpel, do an ultrasound scan, and perform remote occupational
therapy. However, our experiments also highlighted the need for a better robots
embodiment to precisely control the system in 3D dynamic tasks.
