An orthopedic surgery assistance system includes: a multi-axis robotic arm module； at least one end effector includes: two linear actuation elements, two actuation element encoders, a central ring structure, a connector, and a force / torque A sensing element； a guidance and positioning module； and a remote-control surgery module, whereby a user draws the multi-axis robot arm and the end effector according to the real-time three-dimensional model, so that the multi-axis robot arm can A translational and rotational movement in the axial direction, and the end effector's rotational movement in two degrees of freedom at the actuating end.
