Human space exploration was given a new boost by targeting again the Moon and the Mars. Besides the USA, China, India and Russia announced their progressive plans to put astronauts on orbit and beyond in the next decades. The continuous development of robotic technology should lead to the advancement of automated technology, including space medicine. Telesurgery has already proved its effectiveness through various procedures on Earth, and it has the potential to provide medical assistance in space. Space agencies have already conducted numerous experiments and developed various setups to push the boundaries of teleoperation. Different control schemes have been proposed and tested to facilitate and enhance telepresence and to ensure transparency, bandwidth and latency-tolerance. This paper focuses on the modelling of a generic telesurgery setup, supported by a cascade control approach. The minimalistic models were tested with classical and fuzzy PID control options to provide a simple, universal and scalable solution for the challenges of telesurgery over large distances. In our simulations, the control structures were capable of providing acceptable performance indices up to 2 seconds of roundtrip delay, which is a promising result towards the support of future teleoperational missions.