The invention belongs to the technical field of medical devices, and particularly relates to an endoscopic surgery robot based on a far-end central motion mechanism. The endoscopic surgery robot comprises an endoscope, an angle compensation mechanism connected with the endoscope and used for driving the endoscope to rotate around the axis of the endoscope, a tail end depth feeding mechanism connected with the angle compensation mechanism and used for driving the angle compensation mechanism to move so as to control the depth of the endoscope entering human tissue, the far-end central motion mechanism connected with the tail end depth feeding mechanism and used for driving the tail end depth feeding mechanism to move so as to control the posture of the endoscope to visit the human tissue inan operative region, and a robot position adjusting mechanism connected with the far-end central motion mechanism and used for driving the far-end central motion mechanism to move so as to control the height position and the horizontal position of the endoscope; and optical positioning target points are arranged on the angle compensation mechanism, the far-end central motion mechanism and the robot position adjusting mechanism correspondingly. The endoscopic surgery robot can relieve the labor intensity of a doctor and improve surgery safety when being applied to endoscope surgery.