The invention discloses a universal adjustment device and a medical robot using the universal adjustment device. The universal adjustment device comprises a base, a support, a workbench, an adjustment mechanism and a power mechanism. The support is connected with the base in a rotational mode, and the workbench is located at the end, away from the base, of the support and connected with the support in a rotational mode; the adjustment mechanism is located on the support and connected with the workbench, the power mechanism is arranged on the base and connected with the adjustment mechanism, the support or the workbench is controlled to rotate through the adjustment mechanism, and the rotary shaft of the support is not parallel to the rotary shaft of the workbench. Angle adjustment of the support or the workbench can be completed only through control of the adjustment mechanism by the power mechanism when needed, so that the labor intensity is relieved, positioning is precise, and the phenomenon of unstable ultrasonic images is avoided; the rotary shaft of the support is not parallel to the rotary shaft of the workbench, so that all-around automatic adjustment is achieved. The universal adjustment device is adopted by the medical robot, so that all-around automatic adjustment is achieved, the adjustment precision is high, and the demands of different occasions are met.