This present invention provides a handheld robot for orthopedic surgery and a control method thereof. The handheld robot of the present invention includes a main body, a grip, a kinematic mechanism, a tool connector, a tool, a force sensor and a positioning unit. The handheld robot of the present invention combines the position/orientation information of the tool acquired by the positioning unit with the force/torque information acquired by the force sensor, and utilizes the combined information to adjust the position of the tool so as to keep the tool within the range/path of a predetermined operation plan. In this way, the precision of the orthopedic surgery can be enhanced, and the error occurred during the surgery can be minimized.本發明提供一種骨科手術之手持式機器人以及其控制方法。所述手持式機器人包括一主體、一握把、一移動機構、一工具端接器、一刀具、一力量感測器、以及一定位單元。本發明之手持機器人係利用定位單元所量測之刀具與骨頭之間的相對位置與方位資訊,結合力量感測器所量測之骨頭反饋於刀具的力量/力矩資訊,快速且即時的進行刀具的自動動作補償,使得刀具能夠維持在預先規劃的手術路徑或範圍內,藉此減少手術時的誤差,並且提昇手術精度。100‧‧‧手持式機器人1‧‧‧主體2‧‧‧握把21‧‧‧按鈕3‧‧‧移動機構31‧‧‧固定板32‧‧‧可動板4‧‧‧工具端接器5‧‧‧刀具6‧‧‧力量感測器7‧‧‧定位單元
