This paper addresses the problem that, the discretization of stabilizing the continuous bilateral teleoperation controllers for digital implementation may lead to instable teleoperation or poor performance. With this problem, a discrete approach for the novel proxy teleoperation control scheme under time-varying delays is considered in the paper. The principle results involve sufficient conditions in terms of discrete Lyapunov-Krasovskii functionals (LKF) and $H_{\infty}$ control theory, which are resolved by Linear Matrix Inequality (LMI). The simulations of different working conditions are performed to verify the effectiveness of discretization for the continuous bilateral teleoperation system.