A decoupling four-degree-of-freedom telecentric mechanism for celiac minimally invasive surgery comprises a rack, an end effector, a first moving branched chain and a second moving branched chain. The rack is provided with a first support and a second support, the first moving branched chain is connected between the first support and a first end of the end effector, and the second moving branched chain is connected between the second support and a second end of the end effector; through active movement of the first moving branched chain, passive movement of the second moving branched chain and autorotation movement of the end effector, three-rotation one-movement four-degree-of-freedom movement of the end effector around a rotating center far away, and three rotation degrees of freedom are controlled through single drivers respectively, so that the telecentric mechanism has decoupling movement characteristics. The telecentric mechanism can realize decoupling four-degree-of-freedom movement around the rotating center far away, and a driving motor is close to a base and away from the end effector, so that lighter mass and smaller movement inertia of the end effector of a celiac minimally invasive surgery robot are realized, and surgical safety is improved.