The invention provides a surgical robot based on a universal joint and tactile feedback, which has six degrees of freedom. The surgical robot includes at least two universal joints, a driving assemblyin the universal joints drives the universal joints to move; adjacent universal joints are connected through channel tubes, on which a drive assembly drives the channel tubes to move. The center of the universal joint is provided with a rotating channel tube, an advancing and retreating channel tube and a surgical instrument in sequence. The invention also provides a control device based on the same structural principle. The invention simplifies the structure of the surgical robot and the control device by utilizing the three-dimensional rotation ability of the universal joint, and the structure of the control device and the execution device is the same, and the tactile feedback is provided to the operator, thereby improving the portability and the operability of the surgical robot.