Kinematic analysis and simulation of minimally invasive surgical robot (MISR) systems are critical for the control system design with remote center of motion (RCM) constraint. In this paper, a MISR system using bimanual manipulator is introduced. The system is simulated under a virtual reality (VR) environment to validate the dynamics and control. A new control scheme was proposed to track desired position and orientation of the surgery instrument under the RCM constraint. The VR system has been utilized to compare different inverse kinematics solver to improve the computation efficiency. Both the simulation and the experiment results show that the new control scheme provide fast online solution for the bimanual MISR system, which could also be extended to other manipulation applications. © 2016 IEEE.