Abstract: We introduce a position and force control method based on dynamic event-triggered communication for robotic teleoperation systems with time-varying delays and limited communication bandwidth. This scheme is formulated based on the state information of both the master and slave robots, including position, velocity, force, and other dynamic variables. The frequency of event triggering can be adjusted in real time to adapt to system changes, thereby preventing Zeno behavior. According to the state information and triggering mechanism, signals are transmitted between the master and slave robots through the communication network only when triggering conditions are met. Additionally, a dynamic event-triggered proportional derivative-like controller is developed to address time-varying delays. Therefore, the stability of the teleoperation systems is ensured, enabling precise position and force tracking between the master and slave robots. The stability and tracking performance of the system are assessed using a Lyapunov function, and the effectiveness of the proposed control method is confirmed through comparative simulations. This method effectively mitigates the effects of time-varying delays and network congestion, conserves limited network resources, and improves the precision of position and force tracking in delayed teleoperation systems with time-varying levels.