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Robots are being used more and more in surgery due to the many benefits they bring (e.g. reduction of patient discomfort, precision, reliability). Remote robotic surgery is now expected to become a reality due to the emergence of 5G. Needle insertion is a crucial element of many robotic surgical procedures such as biopsies, injections, neurosurgery, and brachytherapy cancer treatment. During needle insertion in remote robotic surgery, there is still no guarantee that the surgeon will obtain the haptic feedback from the patient side within the stringent deadlines, even in 5G settings. This paper proposes a framework for learning by imitation as a way to predict the messages that will eventually fail to reach their destination within the required deadlines. By leveraging expert demonstrations, the Hidden Markov Model is used to encapsulate a set of expert force/torque profiles and corresponding parameters during the off …