The proposed adaptive RCM control has significant implications for the overall stability and safety of the robotic surgical system, especially during unexpected patient movements or interactions. By integrating an admittance control framework with redundancy resolution methods, the system can dynamically adjust to external forces acting on the instrument, ensuring that the RCM constraint is maintained even in the presence of disturbances. This adaptive control mechanism enhances the system's ability to respond to changes in the surgical environment, such as patient movements or physiological variations, while maintaining precise and safe operation. Additionally, the force estimation approach allows the system to accurately sense and respond to forces at the RCM location, further enhancing the safety and stability of the robotic surgical system. Overall, the proposed adaptive RCM control contributes to the system's robustness and reliability, making it well-equipped to handle unexpected scenarios and ensure patient safety during robotic surgical procedures.