Conventional surgical robots have been mainly developed for major surgery and there have been demands for minor surgical devices. This surgical robot which consists of a robot manipulator together with end-effector and force sensor is developed to assist various minor surgeries. By sensing the intention of user using force sensor attached on the end-effector, we can make non-backdrivable commercial manipulator to be backdrivable. The user can feel as if the tool is freely placed in space with no resistance and did not feel the heavy inertia of the tool. With the pre-programmed trajectory of the robot, this robot could do repetitive job stand in for a surgeon. The control algorithm is mainly based on the impedance control and admittance control. With the shared control system, a surgeon can cooperate with the robot and judge the situation and impose repetitive jobs to the robot. This system could relieve fatigue of the surgeon in various minor surgeries.