Central venous catheter (CVC) is an operation for long time training. Central venous puncture and line insertion as important process of CVC may cause several complications, such as Pneumothorax, Misplacement and so on. This paper presents a novel surgery robot navigation system for Central venous puncture based on haptic feedback and ultrasonic. In this system, two subsystems were studied to assisted Surgery and avoid complications. One is puncture path planning system based on ultrasound and magnetic sensor, another is human tissue perception system based on haptic feedback. Plenty experiments have been carried out to demonstrate the effectiveness, accuracy and retardance of the system. Furthermore, exploring experiments about different models have been taken which represent different types of the human body. Results of experimental data are found to be very close to the theoretical analysis, which are useful for anesthetist to study new method of puncture by the Central venous catheter robot.