Abstract: In this paper a novel system design for haptic master-slave control of surgical robots is presented. The design is based on both force-reflecting and DRC control schemes. Experimental results are included to show the capabilities of the proposed solution, using the DAANS master-slave robotic system for Minimally Invasive Radio-Surgery. A wide range of operative conditions are analyzed experimentally. The controller is aimed at safety, since the controller inhibites the motion of the slave device without the operator’s grasp. Therefore unwanted slave motion are avoided, even when it is subject to environmental force.