The invention relates to an automatic puncturing method executed by a puncture robot and comprising: acquiring blood vessel information; selecting a puncture point according to the blood vessel information, and setting a puncture path; controlling a needle to puncture along the puncture path. By puncturing via the method provided by the embodiment, puncture results fluctuation caused by puncturing skills of medical staff is avoided, puncturing is automated, workload of medical staff is relieved, and manpower resources are saved.