A realtime control system for the master tool manipulator (MTM) of dVRK surgical robot based on Simulink Real-Time and Speedgoat target machine was developed to improve the fast response and realtime control. The D-H method was used to establish the coordinate system of the MTM and deduce the motion equation. By designing and establishing the position control algorithm and simulation model, the UDP Real Time communication command and relevant response mechanism were designed, and a realtime control system for “host machinetarget machine” was constructed. The experimental results show that the realtime control system can accurately and reliably complete the realtime data acquisition and related control algorithm verification of surgical robot.