In order to improve the control efficiency and reliability of teleoperation robot, a master-slave teleoperation system based on virtual haptic control is designed. The system integrates the visual information of the slave ends from the teleoperation robot and the intelligent decision making mechanism of the operator. The virtual force is established by the artificial potential field method, and the real-time virtual force guidance of the operator is realized, so that the manipulator can control the slave manipulator efficiently. In order to verify the effectiveness of the proposed method, a bilateral control system is built by using PHANTOM force feedback device and Kinect image equipment. The experimental results show that the control system can achieve stable force guided control. Compared to sleep away operating system boot, the operator does not need to be adjusted from the end of manipulator pose repeatedly. The operation time can be shortened by more than 60%, significantly improve the efficiency of control, get better optimization from the end of the redundant path. The master-slave method satisfies the requirements of the control performance, and the control method is feasible and effective.