A control method of a single-port surgical robot, the single-port surgical robot comprising a slave device including a surgical instrument provided with an elbow and an end effector, and a master device to control motion of the slave device may comprise setting a virtual incision port to an arbitrary position setting an operating position of the end effector calculating a target position of the elbow using the set position of the virtual incision port and the set operating position of the end effector calculating a movement angle of each joint used to move the elbow using the calculated target position of the elbow and/or calculating a movement angle of each joint used to move the end effector using the calculated target position of the elbow and the set operating position of the end effector.
