Being the most important component of minimally invasive surgical robot system, remote centre mechanisms (RCM) composed of three joints, achieve the position and orientation adjustment of the surgical instrument inside a patient's body. In order to implement the high-precision position control and eliminate the adverse effect result from the friction of RCM's joints, in this paper, a fuzzy sliding mode controller with the friction compensation is designed. The result of simulation and

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... show that the controller designed can provide a trajectory tracking with real-time, high-precision performance and strong robustness. Index Terms -Minimally invasive surgical robot, Remote centre mechanisms, Friction compensation, Adaptive fuzzy sliding mode control.