Minimally invasive medical treatment has significant advantages compared with general medical treatment. Particularly, minimally invasive surgery can reduce intraoperative blood loss and trauma, improve postoperative recovery, reduce patient pain and doctor fatigue, etc. In recent years, robot-assisted medical system suitable for minimally invasive medical treatment has become one of the hot topics in the world. In addition to easy integration, optical fiber Bragg grating sensor is immunity to electric-magnetic interference, wavelength encoded nature, good linearity, etc. Compared to those traditional electrical sensors, such as piezoresistive sensor, capacitive sensor, and piezoelectric sensor, FBG presents more potentials in the field of minimally invasive medical intelligent robot. In this work, we review the applications of fiber Bragg grating sensor in minimally invasive medical treatment at length and discuss the exiting problems and perspectives.