Abstract: In order to promote the research and development of percutaneous puncture robots for thorax and abdomen in China, the research status of percutaneous puncture robots at home and abroad is reviewed. The key technologies involved in percutaneous puncture robots, such as operative area information perception, flexible needle puncture, motion planning, master-slave control, and safe interaction control, are discussed and analyzed. On the basis of summarizing the research results and analyzing the key technologies, the development trends and challenges of percutaneous puncture robots for thorax and abdomen in the future are pointed out.