A master device for surgical robots may comprise: handle units, each of which includes at least one multi-joint robot finger configured to control a robotic surgical instrument on a robot arm of a slave device and/or a micro motion generation unit configured to generate a control signal to control an end of the at least one multi-joint robot finger so as to move along a virtual trajectory. A master device for surgical robots may comprise: a first unit that comprises at least one multi-joint robot finger on a robot arm of a slave device and/or a second unit configured to generate a first control signal to control the at least one multi-joint robot finger so as to move along a virtual trajectory.
