The invention discloses a prostate puncture biopsy surgical robot which is used for helping a doctor to do a prostate puncture biopsy surgery. The prostate puncture biopsy surgical robot comprises a hoisting adjusting mechanism, a first linear movement mechanism, a second linear movement mechanism, a first angle adjustment mechanism, a second angle adjustment mechanism and a puncture assembly. A puncture angle is only determined through the first angle adjustment mechanism and the second angle adjustment mechanism; alignment of a puncture part is jointly completely by the hoisting adjusting mechanism, the first linear movement mechanism and the second linear movement mechanism; and the puncture assembly is used for controlling the feeding of a puncture needle. According to the prostate puncture biopsy surgical robot, position adjustment and angle adjustment are independent from each other and do not influence each other, so that the operation flexibility of the surgery is high; an adjusting range can be enlarged as much as possible through the control of six degrees of freedom under the condition that a surgery position and the surgery angle are accurate, so that the prostate puncture biopsy surgical robot is adaptive to actual requirements of different environments and different patients; and the position and angle are flexible to adjust, a puncture process is stable and the precision of puncture biopsy is improved.