The invention discloses a puncture treatment robot system with a sleeved flexible needle. The puncture treatment robot system comprises an outer sleeve servo motor, lead screw linear guides, an outer sleeve servo motor base, a belt pulley, a belt, a roller bearing, a force sensor connecting shaft, a pressure sensor, a sleeve chuck, a chuck and shaft connecting mechanism, a sleeve supporting base, a flexible needle servo motor base, the other belt pulley, the other belt, the other roller bearing, the other force sensor connecting shaft, the other pressure sensor, a flexible needle chuck, the other chuck and shaft connecting mechanism, a flexible needle supporting base, a camera, and a movement control circuit. The puncture treatment robot system with the sleeved flexible needle has four degrees of freedom, and the arched puncture track of the flexible needle can be changed so that the flexible needle can avoids some obstacles and important organs to reach the focus accurately and flexibly. Besides, the puncture treatment robot system with the sleeved flexible needle can track the puncture path of the flexible needle in real time and acquire biological resistance in real time.