Аннотация:A Dual Robot Arm manipulator for executing medical procedures is studied. An important stage of investigation is constructing a mathematical model that takes into account useful torques produced by manipulator motors, friction of different nature, etc., as well as effects of a contact interaction between manipulator sensitive element and soft biological tissue, and allows to create and to numerically work out algorithms for motor control torques. Video-tactile sensor is used as a sensitive element of the manipulator. This sensor allows estimating mechanical characteristics of soft tissue and providing control on active impact on soft tissue. During contact interaction with soft tissue, it is necessary to provide special contact conditions, such as smoothness of approaching, applied force restrictions, and so on. The control task is to realize required indentation of sensor head into soft tissue under such restrictions on applied force and indentation speed as well as on the presence of available observed data.