Percutaneous therapy is an essential approach in minimally invasive surgery, especially of the percutaneous access built procedure which without represent neither visual nor tactile feedbacks through the actual operation. In this paper, we constructed a dynamic percutaneous biomechanics experiment architecture, as well as a corresponding validation framework in surgery room with clinical trials designed to facilitate the accurate modeling of the puncture force. It is the first time to propose an intraoperative data based dynamic force modeling and introduce the idea of continuations modeling of percutaneous force. The result demonstrates that the force modeling of dynamic puncture we proposed based on our experimental architecture obtained is not only has a higher fitting degree with the biological tissue data than previous algorithms, but also yields a high coincidence with the intraoperative clinic data. Further proves that dynamic puncture modeling algorithm has a higher similarity with the medical percutaneous surgery, which will provide more precise and reliable applications in the robot-assisted surgery. © 2018, Springer International Publishing AG.