The modeling phase of the operation of the puncture robot focuses on the acquisition of medical images such as CT and MRI of the lesion site by the imaging device and the use of software for 3D reconstruction processing, which is presented to the physician as a three-dimensional image so that the physician can more accurately identify the target site of the lesion; the planning phase is the spatial positioning system that links the robot, the image and the patient and determines the corresponding surgical implementation strategy; the execution phase is the implementation of the developed surgical strategy with the help of the spatial transformation of the surgical system and the monitoring of surgical instruments.