Abstract: To overcome the disadvantage of the traditional manual biopsy,a robot model with multiple degrees of freedom was designed.According to the precision demand of the biopsy,the position adjustment and the transmission mode was settled down.The 3D model of the surgical robot was designed based on Solidworks modelling and the D-H matrix was determined.The simulation of the workspace of the robot was constracted with SimMechanics toolbox in Matlab.The simulation results demonstrate that the design of the robot was reasonable and it can satisfy the working space requirement of the prostate biopsy surgery.Compared with the prostate biopsy by doctors,the surgery robot based biopsy is higher precision,better flexibility,thereby reducing the difficulty of surgery by doctors.Indeed,surgery robot is very significant for improving the positive biopsy rate of the prostate cancer.