A medical robot, comprising: an operator operating force acquisition unit, configured to acquire an operator operating force; a robot operating force acquisition unit, configured to acquire a robot operating force according to a danger level of a region in which a robot tip is located, and comprising: a medical object generation module configured to establish a medical object model and categorizing the medical object model into different regions according to the danger level; a coordinate matching module, configured to acquire coordinates of the robot tip, matching the medical object model with the coordinates of the robot tip, and determining the region of the medical object model in which the robot tip is located; a regional constraint strategy module, configured to generate different constraint strategies according to different danger levels of regions in which the robot tip may be located according to a safety restriction algorithm; and a robot operating force calculation module, configured to combine the coordinate matching module and the regional constraint strategy module to obtain a corresponding robot operating force; a control module, configured to determine a desired velocity of the robot tip according to the operator operating force and the robot operating force, and convert velocity information into a control instruction; a driving module; and the robot tip; wherein the driving module is configured to drive the robot tip to move according to a received control instruction, characterised in that regions of the medical object model categorized according to different danger levels comprise a recommended region, a safe region, and a forbidden region; also characterised in that the constraint strategy comprises: not generating a robot operating force in the recommended region; generating a robot operating force with the form of damping force opposite to the operator operating force in the safe region to reduce a velocity of the robot tip; and generating a robot operating force away from the forbidden region in the forbidden region. an operator operating force acquisition unit, configured to acquire an operator operating force; a robot operating force acquisition unit, configured to acquire a robot operating force according to a danger level of a region in which a robot tip is located, and comprising: a medical object generation module configured to establish a medical object model and categorizing the medical object model into different regions according to the danger level; a coordinate matching module, configured to acquire coordinates of the robot tip, matching the medical object model with the coordinates of the robot tip, and determining the region of the medical object model in which the robot tip is located; a regional constraint strategy module, configured to generate different constraint strategies according to different danger levels of regions in which the robot tip may be located according to a safety restriction algorithm; and a robot operating force calculation module, configured to combine the coordinate matching module and the regional constraint strategy module to obtain a corresponding robot operating force; a control module, configured to determine a desired velocity of the robot tip according to the operator operating force and the robot operating force, and convert velocity information into a control instruction; a driving module; and the robot tip; wherein the driving module is configured to drive the robot tip to move according to a received control instruction, characterised in that regions of the medical object model categorized according to different danger levels comprise a recommended region, a safe region, and a forbidden region; also characterised in that the constraint strategy comprises: not generating a robot operating force in the recommended region; generating a robot operating force with the form of damping force opposite to the operator operating force in the safe region to reduce a velocity of the robot tip; and not generating a robot operating force in the recommended region; generating a robot operating force with the form of damping force opposite to the operator operating force in the safe region to reduce a velocity of the robot tip; and generating a robot operating force away from the forbidden region in the forbidden region.