An integrated control system for a surgical robot based on embedded computers, the system comprises a main control terminal and a controlled terminal, the main control terminal and the controlled terminal perform exchange of control information and status information; the main control terminal comprises a remote control device (120,121), a host computer and pedals (140,141); the remote control device (120,121) and the pedals (140,141) are both connected with the host computer; when the pedals (140,141) is depressed, the remote control device (120,121) is configured to control motions of a certain tool with which a mapping relationship is established; when the pedals (140,141) is released, the corresponding motion control is cut off; wherein the certain tool comprises a surgical tool (350,351,352) or an imaging tool; the controlled terminal comprises a control cabinet, the surgical tool (350,351,352), a surgical actuator (380,381,382), the imaging tool, a surgical tool driving module (330,331,332), an imaging tool driving module,an imaging illumination module, and a multi-lumen tube; the host computer is configured to exchange control signals and status signals with the controlled terminal through the control cabinet; the control cabinet is used to implement an overall switching of a status of the integrated control system, control actions of the surgical tool driving module (330,331,332) and the imaging tool driving module; the surgical tool driving module (330,331,332) is configured to drive a body of the surgical tool (350,351,352) and the surgical actuator (380,381,382) carried by the surgical tool (350,351,352) to move, and drives the surgical actuator (380,381,382) to act, the imaging tool driving module is configured to drive a body of the imaging tool and the imaging illumination module carried by the imaging tool to move; the multi-lumen tube is configured to pass through a single surgical incision on a patient, the imaging illumination module and the surgical actuator (380,381,382) are both configured to pass through the multi-lumen tube to enter into human body to implement a single-hole laparoscopic surgery; the host computer is configured to adjust display options of a status switching button (614,615,616) for the surgical tool (350,351,352) and a status switching button for the imaging tool according to a status response instruction that represents the status of the integrated control system; the host computer is configured to change contents displayed in a status display area for a status of the multi-lumen tube entering or exiting into a surgical incision, a status of the imaging tool extending from or retracting into the multi-lumen tube, and a status of the surgical tool (350,351,352) extending from or retracting into the multi-lumen tube. the main control terminal comprises a remote control device (120,121), a host computer and pedals (140,141); the remote control device (120,121) and the pedals (140,141) are both connected with the host computer; when the pedals (140,141) is depressed, the remote control device (120,121) is configured to control motions of a certain tool with which a mapping relationship is established; when the pedals (140,141) is released, the corresponding motion control is cut off; wherein the certain tool comprises a surgical tool (350,351,352) or an imaging tool; the controlled terminal comprises a control cabinet, the surgical tool (350,351,352), a surgical actuator (380,381,382), the imaging tool, a surgical tool driving module (330,331,332), an imaging tool driving module,an imaging illumination module, and a multi-lumen tube; the host computer is configured to exchange control signals and status signals with the controlled terminal through the control cabinet; the control cabinet is used to implement an overall switching of a status of the integrated control system, control actions of the surgical tool driving module (330,331,332) and the imaging tool driving module; the surgical tool driving module (330,331,332) is configured to drive a body of the surgical tool (350,351,352) and the surgical actuator (380,381,382) carried by the surgical tool (350,351,352) to move, and drives the surgical actuator (380,381,382) to act, the imaging tool driving module is configured to drive a body of the imaging tool and the imaging illumination module carried by the imaging tool to move; the multi-lumen tube is configured to pass through a single surgical incision on a patient, the imaging illumination module and the surgical actuator (380,381,382) are both configured to pass through the multi-lumen tube to enter into human body to implement a single-hole laparoscopic surgery; the host computer is configured to adjust display options of a status switching button (614,615,616) for the surgical tool (350,351,352) and a status switching button for the imaging tool according to a status response instruction that represents the status of the integrated control system; the host computer is configured to change contents displayed in a status display area for a status of the multi-lumen tube entering or exiting into a surgical incision, a status of the imaging tool extending from or retracting into the multi-lumen tube, and a status of the surgical tool (350,351,352) extending from or retracting into the multi-lumen tube.