An assistant device (1) for percutaneous puncture is disclosed. The assistance device includes a fixing element (1), a first rotatable element (12), a supporting element (13) and a second rotatable element (14). The fixing element has a first rail (111), and the first rotatable element is slidably disposed on the first rail. The supporting element is connected to the first rotatable element. The second rotatable element is slidably disposed on the supporting element and has a puncture restraint pore (141).
