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In this paper, a novel medical image encryption method based on multi-mode synchronization of hyper-chaotic systems is presented. The synchronization of hyper-chaotic systems is of great significance in secure communication tasks such as encryption of images. Multi-mode synchronization is a novel and highly complex issue, especially if there is uncertainty and disturbance. In this work, an adaptive-robust controller is designed for multimode synchronized chaotic systems with variable and unknown parameters, despite the bounded disturbance and uncertainty with a known function in two modes. In the first case, it is a main system with some response systems, and in the second case, it is a circular synchronization. Using theorems it is proved that the two synchronization methods are equivalent. Our results show that, we are able to obtain the convergence of synchronization error and parameter estimation error to zero using Lyapunov's method. The new laws to update time-varying parameters, estimating disturbance and uncertainty bounds are proposed such that stability of system is guaranteed. To assess the performance of the proposed synchronization method, various statistical analyzes were carried out on the encrypted medical images and standard benchmark images. The results show effective performance of the proposed synchronization technique in the medical images encryption for telemedicine application.