Objective A precise microinvasive robot system coupled with a cooperative robot matrix and an end effector of a wire-controlled microvariable path robot was proposed. A puncture needle structure, including the rigid body of the outer needle, non-uniform flexible body of the inner needle, force control wire, internal imaging of the image fiber, and other components, was designed to verify the feasibility of this system. Methods By constructing the puncture structure of the puncture robot, the structural optimization design of the key components affecting the variable-path precision puncture needle was analyzed by constructing the puncture structure of a puncture robot. Based on the orthogonal experimental design method, a three-factor and three-level experiment that primarily affected the accuracy of the puncture needle was designed, namely, the starting distance of the hole center from the edge, the diameter of the hole, and the distance between the two holes. The experiment is verified and simulated using a real object. Results The displacement of the titanium-nickel needle tip had a significant relationship with the starting distance of the hole center from the edge, and the main and secondary influencing factors were as follows: starting distance of the hole center from the edge> hole diameter>hole distance. When the starting distance of the hole center from the edge was 1 mm, the diameter of the hole was 0.2 mm, and the distance between the two holes was 2.6 mm, the displacement of the titanium-nickel needle tip was the maximum value. Conclusions The experiment verified the functional applicability of the designed system and the linear elastic hysteresis characteristics of variable path puncture, providing a reference for further in vivo experiments and system optimization.