Medical robots improve medical efficiency and reduce patients’ suffering that owns social significance and scientific research value.Focusing on the difficulties of medical robots, we propose the concept of parallel medical robotics based on the ACP (artificial societies, computational experiments, parallel execution)-based parallel system method.parallel medical robot is mainly composed of a physical medical robot and its virtual counterpart, through which we can realize the management and control for the overall system, conduct experiments and evaluation for the treatment process, and learning and training for doctors and patients.Parallel medical robotics is supported by robot simulation, biomechanism, 3D printing and knowledge automation techniques, and holds three core functions that are descrition, prediction and prescription when combined with parallel learning.We demonstrate the framework and its potential usages with a robotic trans-esophageal ultrasound system.