The invention discloses a self-adaptive filtering device of a master-slave minimally-invasive surgery robot system, comprising a trembling action self-adaptive filtering device, a master manipulator, a position collecting module, a motion control module, a slave manipulator driving module, a detection module, a slave manipulator, a feedback module and a computer control system. The trembling action filtering device is used for filtering hand trembling actions of a surgery operator and restoring a surgery operation desired signal to the maximum degree; the master manipulator driving module in the filtering device is used for driving the master manipulator; the position collecting module is used for collecting a position signal of the master manipulator; the motion control module is used for processing the collected position signal and controlling a motor to drive the slave manipulator to complete the surgery operation; finally, the feedback module is used for supplying real-time image feedback information; therefore, a closed-loop minimally-invasive surgery robot control system is formed. The invention can effectively filter the hand trembling actions, which ensure high precision and reliability of the minimally-invasive surgery.