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In order to improve the success rate of venipuncture catheterization and relieve patients' physiological pain, a PICC(Peripheraly Inserted Central Cathcte) intelligent puncture medical robot control system based on ultrasonic images was designed. The crystal oscillator reset circuit is used as the output power support of the puncture catheterization. The transmission scheduling function of the drive control motor is used to realize precise control of the intelligent sensor, reduce the average penetration depth of the needle during the catheterization process, and complete the construction of the PICC intelligent puncture medical robot and its control application structure. On this basis, the original ultrasonic image format was converted according to the analysis results of the actual characteristics of the venous catheterization image, and the preliminary preprocessing of the puncture ultrasonic image was realized after several marginal tests. To obtain the position information of the vein targeted vessels, and at the same time to plan the puncture path, to complete the repositioning control of the robot operator and realize the motion control model analysis of the medical robot. The results of the simulation and comparison experiments show that compared with the conventional venipentesis, the puncture control system can control the value of the insertion Angle between 10° and 40°, and keep the insertion depth within 2/3 of the whole needle, which can greatly improve the success rate of puncture and catheting, and achieve the goal of alleviating the physiological pain of patients.