The invention relates to the field of medical apparatuses, and in particular to a device and method for transplanting friction pulley type particles for robot far end touch force feedback. The devicecomprises a straight line slipway, a cushion block arranged on the straight line slipway, a limit switch group connected with external control, a wire rolling device and a needle transporting device.The method specially comprises the following using steps of S1, performing linear motion; S2, performing accurate positioning; S3, performing rotary motion; S4, transmitting the driving force; S5, guiding particles; and S6, performing transplanting. According to the device disclosed by the invention, the recovering length of internal needles is controlled by the wire rolling device and the needletransporting device, and the transplanting of the internal needles is realized in a manner of gear transmitting, so that the transplanting structure of the internal needles is compact, and the transplanting length of the internal needles can be directly controlled; the straight line slipway can directly control the transplanting state of an external needle; and a six-dimensional force sensor is directly connected with the external needle, so that the stressing situation of the external needle can be monitored in a real-time manner, and the stress information is transmitted to a controller, sothat integral feedback control is realized.