Abstract: The present invention relates to a system for renal puncturing assistance in percutaneous nephrolithotomy (PCNL) surgery. The system includes a robotic device having an end effect or including an image acquisition unit, needle holding mechanism and a guide wire mechanism. The needle holding mechanism accommodates a puncture needle with corresponding guide wire provided by the guide wire mechanism. The system includes a computing unit operatively coupled to the image acquisition unit. The system has an AR engine that augments the pre-operative CT scan data of the patient with real time intra-operative images acquired using the image acquisition unit during the PCNL surgery, and is used along with an artificial intelligence engine for any or a combination of: identifying kidney and rib position of the patient, predicting an optimal puncture path for the PCNL surgery, and predicting an entry point on the marker patch for the PCNL surgery.