Six freedom degrees trailing type medical support robot

The utility model discloses a medical supporting robot of a six-freedom-degree following type, which is mainly composed of a robot body (1), bionic mechanical arms (2), bionic mechanical hands (3) and a controller (4), wherein the bionic mechanism arms (2) are arranged on the top part of an upright post (13) and can rotate in the mode of winding the axial line of the upright post (13). The lower end of each bionic mechanical arm (2) is provided with each of the bionic mechanical hand (3) composed of a clamping head (31), a rotating adjustor (32) of the clamping head, a fixed axle (33) and a sensing track controller (34), wherein the sensing track controller (34) realizes the control function of a swinging optocoupler (346) and a telescopic optocoupler (360). The utility model has the advantages of simple and compact structure and low cost, and enables the micro-wound treatment to be more accurate, smarter and safer.