A surgical robot system may include a slave device provided with surgical tools and a master device remotely controlling motion of the surgical tools. The master device may include handles controlling the motion of the surgical tools, a master external force estimator estimating external force applied to the handles, a force compensator generating a first force control signal to cancel out the estimated external force, and a master controller moving and rotating respective joints of the handles in such a way that the external force applied to the handles is canceled out using the generated force control signal.