The invention discloses a tactile interaction-based percutaneous nephrolithotomy (PCNL) kidney stone virtual surgical training system and a method for improving the repeated training of urologists soas to make the urologists obtain puncture skills. The system specifically includes a medical image three-dimensional reconstruction module (1), a kidney soft tissue sample puncture experiment module (2), a mechanical modeling module (3), a visual rendering module (4), a tactile rendering module (5), a virtual operation training environment design module (6), a tactile interaction device module (7), an operation training data acquisition and analysis module (8), an augmented reality module (9) and a 3D printing module (10). According to the system of the present invention, a real surgical trocar is adopted to puncture a kidney tissue, so that data can be obtained to be used for establishing a mechanical model; the system enables a strong sense of immersion and high real-time performance onthe basis of a virtual PCNL operation environment constructed through the tactile interaction device, the augmented reality technology and the 3D printing technology. With the system adopted, the training of the urologists can be facilitated, the operative skills of the urologists can be improved, and the urologists can be familiar with the procedures of an operation.