This paper mainly researches on the error matching situation of heterogeneousmaster-slave surgical robot according to the need of master-slave medical robot\'smovement match situation, to provide design reference for the precision design ofhigh performance master-slave surgical robot.

This paper introduces a master-slave robot system with force and touch telepresence.

Regulation of arm dynamics of a master slave robot system is effective to give human operator a real sensation of presence that enables him/her to perform teleoperation task dexterously with the feeling that they exist inside the slave robot in remote environment.

By establishing masterslave robot system with force telepresence, the control theory and design method in implement of teleoperation with the help of force telepresence technology under the uncertainty enviroment are investigated.

With the fast development of the technology related, the isomeric master-slave robot system has a widespread application in the field of minimally invasive surgery.