The invention provides a lipomyoma excision robot. The lipomyoma excision robot comprises a main body frame, a take-out part, an injection part, a cross-cutting part, an incision part and the like; the take-out part comprises a take-out part connecting rod, an electric cylinder base, a claw head, a needle seat and the like; the injection part comprises an injector, an injector holder, an injectionpart connecting rod and the like; the cross-cutting part comprises a cross-cutting part connecting rod, a telescopic electric cylinder seat, a lateral translation block, a cross-cutting cutter head and the like; the incision part comprises an incision cutter head, an incision cutter holder, an incision part connecting rod and the like; a main body of the robot is composed of the main body frame,a rotating rod, a sliding block moving frame and the like; the sliding block moving frame is provided with four mechanical arms of the take-out part, injection part, cross-cutting part and incision part; the injection part performs local anesthesia on the skin, the incision part cuts a part of the skin, a needle of the take-out part is inserted into a tumor body, and the claw head of the take-outpart and the cross-cutting part cut the periphery of the tumor body, so that the tumor body is separated, and the lipomyoma is removed.