Provided are a venipuncture device (1), system, and venipuncture control method, said system comprising: a control device (2) and a venipuncture device (1); the venipuncture device (1) and an ultrasonic probe (13) are each connected to the control device (2); the venipuncture device (1) is used for capturing data information of a preselected target vessel and sending same to the control device (2); the control device (2) is used for calculating, according to the data information, position information of the target vessel and generating a control signal according to the position information; the venipuncture device (1) is also used for controlling, according to the control signal, a to-be-punctured needle body (5) and to-be-inserted flexible tube, fixed to said device, to puncture skin. The overall manufacture cost of the device and system is lower than that of a robot medical system; the invention is capable of automatically controlling the venipuncture device (1) to perform the movements of needle insertion, tube placement, and needle removal, reducing the intensity of labor of an operator; furthermore, the invention is matched with an ultrasonic probe (13) and, under the guidance of the ultrasonic probe (13), achieves highly accurate positioning; it may be operated using one hand and reduces the experiential requirements of the operator and is adaptable to a dynamic environment.