This paper presents the master-slave system which is composed of multi degrees of freedom (DoF) forceps robots. In minimally invasive surgery, there are some advantages for patients because incision is small. However, it is difficult for surgeons. Therefore, in order to support surgeons, surgical robots are studied and developed. Although conventional surgical robots have high position accuracy, the transmission of force sensation is not adequate. Therefore, two types of the five DoF surgical robot are developed to transmit force sensation. Force sensation can be transmitted by bilateral control. In this paper, the master-slave system with bilateral control is constructed. Two types of the five DoF surgical robot are used as two human hands. In the experiments, simple tasks are carried out and the transmission of force sensation is validated.