In recent years, puncture robot technology has developed rapidly, which is an emerging puncture navigation technology that integrates computer technology, imaging technology and robotics, It has shown great potential in solving the problems of insufficient precision of minimally invasive surgery, excessive radiation, and operation fatigue.

Puncture robotic technology is a frontier research direction combining the robotics field and the medical surgical field, but it is still in its infancy and has only been clinically used in some disciplines. Therefore, this article will review the overview of the puncture robot, its clinical application, and the remaining problems of the technology, and look forward to the application prospects of the technology in minimally invasive interventional treatment of chronic pain.

Medical robots refer to various robotic equipment used in surgery, medical training, rehabilitation, prostheses, and assistance for the disabled. According to the different service objects, it can be divided into medical and surgical robots, rehabilitation robots and robots for helping the elderly and the disabled. The puncture robot, as one of the branches of medical surgical robots, is a medical robot dedicated to minimally invasive surgery. It generally consists of four parts: a robotic arm, an imaging device, a spatial positioning system, a workstation, and corresponding software. 

The running process of the piercing robot generally follows the three principles of "perception/reasoning/operation", namely three stages of modeling, planning and execution.

The modeling stage is mainly for imaging equipment to collect CT, MRI and other medical images of the lesion, and use software to perform three-dimensional reconstruction processing, and present it to the physician as a stereo image, so that the physician can more accurately identify the target of the lesion; In the planning stage, the spatial positioning system connects the robot, the image and the patient, and determines the corresponding surgical implementation strategy; The execution stage is to implement the established surgical strategy with the help of the spatial transformation of the surgical system and the monitoring of surgical instruments.