Aiming at the key issue of trajectory tracking control for domestic laparoscopic surgery robot, an adaptive fuzzy sliding mode control system is constructed based on dynamic model. This method uses a fast nonsingular terminal sliding mode surface to ensure that the system can converge in a limited time and avoid the singularity of control. At the same time, the fuzzy logic control is used to dynamically control the size of the sliding mode switching term according to the dynamic variation of the system error. The chattering of the system is reduced, and the tracking accuracy and robustness of the controlled system are improved on the basis of retaining the robustness of sliding mode control. The simulation results show that the designed method possesses the characteristics of fast convergence speed, high steadystate accuracy and small torque ripple. The method can reduce the position convergence time from 06 s～09 s to 01 s and the peak value of the steadystate error reduces from 0035 rad to 001 rad. The experiment results on living animal tissues show that the designed control system can achieve the aim the mechanical operating arm accurately tracks the operation information of the doctor, which provides a guarantee for the smooth implementation of the operation.