The invention discloses a six-degree-of-freedom puncture surgical robot, which includes a base plate, an XYZ three-axis mobile platform, an extension rod unit, an αβ angle joint module, a six-dimensional force sensor module, a puncture needle module, and an XYZ three-axis mobile platform. Fixed on the bottom plate, one end of the extension rod unit is connected to the XYZ three-axis moving table, and the other end is connected to the αβ angle joint module, the six-dimensional force sensor module and the puncture needle module in sequence. The six-degree-of-freedom puncture surgical robot of the present invention can replace the doctor to perform puncture in the radiation environment under the guidance of the X-ray real-time image, and the doctor can track the deviation of the target point in real time, and adopt remote operation control to adjust the needle insertion angle in time , to achieve precise puncture of the lungs, and eliminate the adverse effects caused by the doctor's hand tremors, eliminating the need for step-by-step needle insertion and repeated verification processes in traditional surgery, and achieving one-time needle insertion, which improves surgical efficiency and accuracy, and reduces The probability of complications such as pneumothorax and bleeding is reduced.