In this paper, a semi-physical simulation platform of the master-slave robot control simulation system was built based on the analysis on functional requirements of the PHANToM OMNI robot system. Based on differential transformation method, the real-time master-slave control was executed by using Jacobian matrix and proportionalderivative( PD) close-loop control algorithm, and the digital filter was designed to eliminate effects of surgeons’ hand lowfrequency tremors on the precision of the master-slave control. The simulation experimental results demonstrate that the slave robot can follow precisely and quickly movements of the master robot and eliminate hand tremors.