An assistance device is disclosed. The assistance device includes a fixing element, a first rotatable element, a supporting element and a second rotatable element. The fixing element has a first rail. The first rotatable element slides on the first rail. The supporting element is connected to the first rotatable element. The second rotatable element slides on the supporting element and has a puncture restraint pore.一種經皮穿刺輔助裝置,包括一固定元件、一第一轉動元件、一支撐元件以及至少一第二轉動元件。固定元件具有一第一軌道。第一轉動元件滑設於第一軌道。支撐元件連結於第一轉動元件。第二轉動元件滑設於支撐元件,且第二轉動元件具有一穿刺限位孔。1‧‧‧經皮穿刺輔助裝置11‧‧‧固定元件111‧‧‧第一軌道112‧‧‧腳部113、143‧‧‧迫緊部114‧‧‧容置孔12‧‧‧第一轉動元件13‧‧‧支撐元件131‧‧‧第二軌道132‧‧‧距離標記部14‧‧‧第二轉動元件140‧‧‧凹槽141‧‧‧穿刺限位孔142‧‧‧角度標記部15‧‧‧輔助限位元件151‧‧‧導引針限位孔153‧‧‧手持部X‧‧‧第一軸向Y‧‧‧第二軸向
