Medical robot for puncture surgery

The invention provides a puncture surgery medical robot. According to the embodiment, the puncture surgery medical robot comprises a robot body, a 3-PRR series-parallel connection hybrid mechanical arm and an end effector. The robot main body is used for providing control drive for supporting rigidity and puncture point positioning. The 3-PRR series-parallel hybrid mechanical arm is in driving connection with the robot main body and is used for space positioning in a puncture point space; and the end effector is in driving connection with the 3-PRR series-parallel hybrid mechanical arm and is used for adjusting the angle of the needle feeding point in the space. By means of the technical scheme, the problem that the rigidity of a series robot and a joint type robot is insufficient can be solved, decoupling of puncture point positioning and posture adjusting is achieved, and the control difficulty is reduced. Meanwhile, the working platform of the end effector of the novel puncture surgery robot translates in the movement process, so that the design difficulty of anti-collision path planning in the surgery process is reduced.