The utility model belongs to the field of medical equipment, and relates to a self-driving physical therapy wheelchair. The self-driving physical therapy wheelchair comprises a backrest, a seat, wheels, armrests, hand cushions, leg supports, fixed shafts and rotating shafts. The wheels are provided with rolling disks which are provided with rolling disk protruding columns. The leg supports are provided with leg support protruding columns and leg support rotating wheels, and the leg supports are connected with the seat through the leg support rotating wheels. Circular holes are formed in the two ends of the rotating shafts, the diameter of the circular holes is slightly larger than the diameter of the rolling disk protruding columns and the diameter of the leg support protruding columns, and the leg supports are connected with the corresponding rolling disks through the corresponding rotating shafts. According to the self-driving physical therapy wheelchair, the legs or the hands of a patient can move appropriately when the patient uses the wheelchair, and leg or hand muscle atrophy caused by the fact that the legs or the hands are in a single state for a long time is avoided.