In this paper, with the aim of presenting an optimized adaptive control method in telerobotic systems, the impact of this technology on medical nanorobots and microrobots and their application in telemedicine and remote surgery systems has been analyzed. The proposed method has been designed and simulated considering the existing challenges such as actuator saturation and time delays. The simulation results showed that this adaptive controller was successfully able to improve the system performance under different conditions and ensure the stability of the system. The innovation of this research in presenting an optimized control structure for teleoperative systems with an emphasis on practical applications in the medical field, especially in critical situations such as the Corona pandemic, has been highlighted. This technology can reduce the need for the constant presence of medical personnel and improve access to medical services in deprived areas. However, limitations such as high costs, technical complexity, and the impact of environmental noise have been raised as potential challenges, the investigation of which could pave the way for future research.