The invention discloses a five-degree-of-freedom prostate acupuncture surgery robot. The five-degree-of-freedom prostate acupuncture surgery robot comprises a rack, a surgical needle, a feeding devicefor driving the surgical needle to carry out the acupuncture and a parallel branch chain system for controlling the attitude of the feeding device; the feeding device comprises a feeding platform, aneedle base and a feeding mechanism for driving the needle base to realize a linear reciprocating motion; the rack comprises a slant bracing plate and a horizontal bracing plate connected to the top of the slant bracing plate; and the parallel branch chain system comprises a first mechanical arm and four independent second mechanical arms, one end of the first mechanical arm is swingably connectedwith the slant bracing plate, the other end of the first mechanical arm is connected to one side of the feeding platform in hinge mode, the top of each second mechanical arm is swingably connected with the horizontal bracing plate, the bottom end of each second mechanical arm is connected to the feeding platform in hinge mode, and the first mechanical arm and the second mechanical arm are in a combined action so as to keep balance of the feeding platform. The five-degree-of-freedom prostate acupuncture surgery robot realizes the automation and intellectualization of mechanical acupuncture soas to reduce the work intensity of doctors and improve the accuracy and success rate of the surgery.