Transurethral resection of the prostate (TURP) is a crucial procedure that significantly improves the quality of life for aging males with benign prostatic hyperplasia (BPH). During TURP, a long surgical instrument is inserted into the patient’s body through the urethra and operated under a remote center-of-motion (RCM) constraint. Robot-assisted TURP with tele-operation combines operator expertise with robotic precision. However, unexpected disturbances such as patient movement or unintentional squeeze leads to large force at the RCM constraint, potentially causing damage to delicate tissues. In this paper, we propose an intuitive task space motion controller with a compliant RCM constraint for tele-operated robot-assisted TURP. The key finding is the combination of a programmable online RCM motion planner and a 6 degree-of-freedom task space admittance controller. The controller achieves high RCM accuracy in the absence of external disturbances, while maintaining compliant behavior to reduce contact forces when disturbances occur. Experiments were performed on a collaborative surgical manipulator to simulate robotic TURP. The results demonstrate that the average RCM precision and the tool tip accuracy were 0.35 mm and 0.30 mm, respectively, under undisturbed conditions. Under applied external disturbances, the proposed compliant RCM controller could significantly reduce the contact force at the RCM by at least 80% compared to the rigid RCM constraint, verifying the effectiveness of our method.