To improve the quick response and real-time control performance of dVRK surgical robot control system,a dVRK 7 DOF manipulator link model was established based on D-H parameter model,the homogeneous transformation matrix of the manipulator was calculated to provide reference for the real-time control of the manipulator.Based on MATLAB/Simulink,the semi physical simulation model of PID position control for manipulator each joint was established,and the real-time fixed-point control of the manipulator end was realized.The results show that by using the proposed system,the data acquisition and control algorithm verification of surgical robot manipulator can be completed in real-time and accurately.