The O2 lance manipulator is used in the electric arc furnace (EAF) process to supply oxygen in order to remove impurities in molten metal. However, since it is controlled by the human operator who can get only visual information about the EAF, the collision between the lance and the EAF can happen which must be avoided in the process. The bilateral teleoperation can be a solution for this problem, but due to the extreme environment of the EAF environment, the feedback force should be generated based on the virtual environment. Since the parameters of the EAF and O2 lance is time-varying, there exist some errors between VE and real environment which lead to the incorrect force feedback. In this paper the estimation method for parameters of the lance and EAF used in this framework is developed. The proposed method can update the parameters of the EAF and O2 lance manipulator in on-line process, so the bilateral teleoperation can generate more accurate feedback force. The functionality of the proposed method is validated by experiment.