The replacement of surgical tools is one of the basic operations in performing surgery. However, this step is time-consuming in operational processes, and elevates the associated risks. Reason: The revision enhances clarity and employs more formal language suitable for an academic context. At present, medical robots still need manual operation to replace surgical tools. In order to enable the robot to change surgical tools, this study designed a clamping tool holder for changing surgical tools. The clamping tool holder is driven by a 6-degree of freedom robotic arm. In this paper, CAD model of the clamping tool holder is presented, the motion of the clamping tool holder analysis and pick up the tools of simulation operation. Finally, the prototype experiment verified that the clamping tool holder can hold and release surgical tools without manual assistance. The structure can realize the effect of saving manpower and improving operation efficiency.