To　meet　the　high　requirements　of　puncture　surgery　for　safety,　intuition　and　maneuverability,　this　paper　proposes　a　new　kind　of　6R　puncture　robot＇s　design.　The　mechanical　structure　is　described　in　detail　first.　A　D-H　coordinate　is　created　based　on　the　structure,　both　the　normal　and　inverse　kinematics　problems　are　studied.　The　paper　then　introduced　the　scheme　of　control　system　and　software　in　general.