In the needle intervenes in the prostate, there are displacement and deformation of prostate, needle tip deflection and other issues. In order to improve the positioning accuracy of robot manipulation of the needle, the vibration and rotation puncture mechanism are focused in this work. The needletissue interaction mechanical model is also established. The evaluation experiments of vibration and rotating puncture are respectively conducted by using the constructed experimental platform. By analyzing the experimental results, a strategy of high accuracy puncture is proposed based on vibration and rotation puncture, and the corresponding control software of puncture strategy is designed. Finally, the puncture force evaluation test is implemented using high puncture strategy, and the results verify the effectiveness of the proposed method.