PURPOSE: A medical robot system and a control method thereof are provided to enable a doctor to grasp whether the current position of a surgical instrument is deviated from a reference range easily. CONSTITUTION: A trocar(200) senses position of a surgical instrument in the inside of a through-hole and pressure applied to the trocar by the surgical instrument during a surgical operation(610). A position sensing part and a pressure sensing part of the trocar sense the position and the pressure of the surgical instrument. If the position of the surgical instrument and the pressure by the surgical instrument are sensed, the trocar generates a message including position information and pressure information of the surgical instrument, and then sends the message to a console(400) and a surgical robot(300) respectively(620, 630). The console receives the message(622), and then analyzes the message(624). If the position information and the pressure information of the surgical instrument are acquired from the message, the console displays the acquired position information and the acquired pressure information(626). [Reference numerals] (200) Trocar； (300) Surgical robot； (400) Console； (610) Position and pressure detection； (620,630) Send a message； (622,632) Receive a message； (624,634) Analyze a message； (626) Display position and pressure information； (636) Limit movement according to the analysis results본 발명은 의료용 로봇 시스템 및 그 제어 방법에 관한 것이다. 본 발명에 따른 의료용 로봇 시스템은 환자의 절개부위에 삽입되어 수술기구를 안내하며, 상기 수술기구의 위치 정보 및 상기 수술기구에 의한 압력 정보 중 적어도 하나를 전송하는 트로카； 및 상기 위치 정보 및 상기 압력 정보 중 적어도 하나를 포함하는 화면을 표시하는 콘솔을 포함한다.
