To realize the precise puncture of prostate brachytherapy robot, this article conducts research on needle deflection deformation prediction model and puncture control strategy in view of the existing deficiency and development trend of robot-assisted prostate brachytherapy surgery. The parameter acquisition problem of needle deflection deformation prediction model is studied, and a Young′s modulus recognition method based on corrective force is proposed to solve the problem of difficulty in obtaining intraoperative tissue Young′s modulus. Then, the puncture control strategy based on corrective force is established, which is divided into two stages. The first is preoperative needle tip trajectory planning stage, and the other is the intraoperative puncture strategy adjustment stage. In the preoperative needle tip trajectory planning stage, a cost function is established, which is based on the needle deflection prediction model to obtain the optimal needle tip trajectory and puncture parameters. In the adjustment stage of the intraoperative puncture strategy, a reverse needle tip deflection prediction model is formulated to compensate the value of the correction force during the operation. The adaptive PID method based on reinforcement learning (RL) is also used to design the controller to achieve the application of correction force and achieve accurate puncture. An experimental platform of prostate seed implantation robot is established independently to evaluate the effectiveness of the proposed puncture control strategy. The average error of seed implantation is 1. 96 mm and the standard error is 0. 56 mm. Experimental results show that the puncture control strategy based on correction force can effectively reduce the tip deflection value and improve the accuracy of seeds implantation.