The invention discloses a minimally invasive surgery robot, and belongs to the technical field of medical apparatuses. The minimally invasive surgery robot comprises an end actuating device, and further comprises a driving device, wherein the end actuating device comprises an upper platform and a lower platform which are connected; two clamps, which are used for clamping the medical apparatuses and are arranged in a cross mode, are arranged on the upper platform; the various clamps are rotatably connected to the upper platform; the end actuating device further comprises transmission arms, a location seat and a middle shaft; one of the two transmission arms is hinged with the tail end of one of the clamps and the other transmission arm is hinged with the tail end of the other clamp; the other ends of the two transmission arms are hinged with the location seat, and the location seat is connected to the middle shaft; and the driving device comprises a first driving device which is used for driving the lower platform so as to achieve translation and swinging and a rotating driving device which is used for driving the middle shaft to rotate. The minimally invasive surgery robot providedby the invention, when used for replacing manpower in clamping the clamping apparatuses, can relieve surgical harm which is caused by shake of the hand of an operator in an operating process.