The invention discloses a telescopic medical apparatus control mechanism, which is applicable to allowing a medical apparatus to be arranged thereon. The medical apparatus has a telescopic axial direction, wherein the telescopic axial direction is intersected with a patient, so that an inserting point is formed; and the control mechanism is composed of a pedestal, a first rotating module, a second rotating module, a link module which is composed of a near-end link group and a long-distance link group which are mutually assembled, and an extending and contracting driving module. With the application of the control mechanism provided by the invention, the extending and contracting driving module which drives the medical apparatus to do reciprocating displacement in the telescopic axial direction is arranged on a part away from the medical apparatus so as to be away from the inserting point of the patient, so that the medical apparatus can be controlled to perform extending and contracting actions without arranging an actuator nearby the medical apparatus and the inserting point of the patient, the operating space nearby the inserting point of the patient is enlarged, and convenience is provided for a doctor in a minimally invasive surgery.