Disclosed are a surgical robot system using augmented reality and a control method thereof. A master robot is configured to control a slave robot having a robot arm by using a manipulation signal and includes: a storage element, an augmented reality implementer unit configured to store a sequential user manipulation history for virtual surgery using a 3-dimensional modeling image in the storage element as surgical action history information; and a manipulation signal generator unit configured to transmit to the slave robot a manipulation signal generated using the surgical action history information, if an apply command is inputted.