The invention discloses a main hand operating wrist of a master-slave robot, relates to the main hand operating wrist, and aims to solve the problems that a mechanical arm of a main hand end in the prior art is relatively small in working space, not high in flexibility, lack of force and moment of force feedback information, great in mechanism, lack of sense of force, low in space utilization rate, limited in application occasion, not flexible to operate, complex to operate, incapable of realizing force balance of any position of the mechanical arm, great in load for a doctor to drive the main hand to operate, and fatigable. The main hand operating wrist comprises an arm connector, a first wrist joint assembly, a second wrist joint assembly, a third wrist joint assembly, a fourth wrist joint assembly and a clamping mechanism connector, wherein the first wrist joint assembly comprises a first driver, a first motor, a first shaft coupler, a first shaft, a first absolute type angle encoder, a first housing and two first bevel gears. The main hand operating wrist is used for the field of medical robots.