A percutaneous nephroscope comprises a bridge assembly, a puncture needle, a sheath assembly and a lens assembly, wherein the bridge assembly is provided with a bridge passage and a bridge base, and the sheath assembly is provided with a sheath passage and a sheath base arranged on the end of the sheath passage. In the step of puncture, the front end of the puncture needle is inserted into and extends out of the sheath passage, and the end of the puncture needle abuts against the sheath base; when the sheath base is tightly connected with the bridge base, the sheath passage communicates with the bridge passage, and the lens assembly sequentially passes through the bridge passage and the sheath passage. The percutaneous nephroscope has the following advantages: (1) the operating procedure is simplified, the time of an operation can be shortened, the requirement on the endurance of patients is decreased, and the working intensity of doctors can be decreased; (2) particularly, unnecessary expansion which can cause the pain and tissue injuries of patients is reduced; (3) because the diameter of the sheath is small, the percutaneous nephroscope can be flexibly operated in the narrow spaces of the renal pelvis and the renal calyx, the risk of tearing kidney tissues is reduced, and moreover, the surgical cut is small and can easily heal up after the operation.