Abstract: Based on the operable space of prostate particle implantation surgery, the design requirements of prostate particle implantation robot were proposed. The robot was divided into three components: position adjustment module, posture adjustment module, and end implanter. Through the design of the size of the rod, the motion decoupling of the 3-degree-of-freedom position adjustment mechanism was calculated, and its working space was calculated to meet the small operation space and completely cover the prostate body; the attitude adjustment module adopted the RCM mechanism, and the parallelogram mechanism was introduced to solve the problem of motion dead point; the implanter used a rack and pinion mechanism to drive the outer needle and a hard friction groove wheel to drive the inner needle, which provided a stable compression force through the spring compression mechanism; and a large-capacity particle clip was designed. The kinematics analysis was carried out through ADAMS to verify the accuracy of the conclusions obtained in the numerical calculation part of the article, and the kinetic analysis was carried out to verify that the design of the prostate particle implantation robot was reasonable and feasible.