New applications and challenges in surgical robotics have motivated the development of new robotic tools and the invention of new types of surgical intervention robots. The advancement of mechanical design enables and facilitates many new robot-assisted clinical procedures. On the other hand, the new robotic mechanisms and enabled applications pose new requirements for the control design. Some control methods should be re-examined to cope with the new applications and new control methods are expected to maximize the performance of recently developed surgical robots. Here, we present some of our latest control developments to cope with such the new demands.