Medical robot with intuitive control and control method

The present disclosure relates to a medical, in particular surgical, collaborative robot (1) for actuating a medical, in particular surgical end effector (2), having: a robot base (4) as a local connection point of the robot (1); a movable robot arm (8) connected to the robot base (4), the robot arm having at least one robot arm segment (10); an end effector (2) having an end effector axis (3) connected to the robot arm (8); and a control unit (24) adapted to control the robotic arm (8); wherein the medical robot (1) has an input device (26) with a zero axis (30), the input means (26) are adapted to detect, in at least two opposite directions, at least one force applied to the input means (26) transversely to the zero axis (30) as an input and to be provided as a control command of the control unit (24) for controlling the position and/or orientation of the end effector (2) and/or of the robotic arm segment (10), and an axis (32), in particular a zero axis (30), of the input means (26) is arranged parallel, i