Abstract: In order to solve the problem that current commercially available minimally surgical robots do not include significant haptic (force) feedback mechanism, a novel decoupled and coordinated force-position control strategy with corresponding intelligent control system design is proposed based on bilateral decoupled and coordinated bio-regulation mechanism in human body, in which control features of minimally surgical robots are considered. Actual experiments are carried out with four 3-DOF (degree of freedom) haptic manipulators to illustrate the performance of the proposed intelligent controller system. The results indicate that the proposed control system can achieve decoupled and coordinated force-position control. The operator can get accurate force feedback to guarantee robot performing task harmoniously and stably.