The invention provides a decoupling two-rotation serial mechanism used for minimally invasive surgery. The decoupling two-rotation serial mechanism comprises a first input rod, an output rod, a first transmission rod, a second transmission rod, a third transmission rod and a second input rod which are sequentially connected in series and are movably connected through revolute pairs. According to the decoupling two-rotation serial mechanism used for the minimally invasive surgery, only a small number of the revolute pairs are included, the structure is simple, installing is easy, the movement response speed is high, and control is easy.