Atmospheric pressure cold plasma, with advantages such as high particle activity, no thermal damage, high efficiency and direct and friendly contact with human tissues, is considered to have great potential in biomedical applications. Therefore, 'plasma medicine' as a new interdiscipline has been developed in the past two decades. This review first briefly describes the development of typical plasma sources suitable for biomedical applications, and those with different discharge forms are simply compared, evaluated and summarized. Subsequently, measurement of the crucial gaseous reactive particles (e.g. OH and O) and their spatio-temporal distributions are introduced. Meanwhile, the generation and variation rules and the related critical macroscopic parameters of the plasma-induced aqueous reactive species are summarized. Finally, related studies in the last ten years on the mechanisms of the plasma-driven microbial inactivation and plasma-induced apoptosis of cancer cells are introduced. Moreover, some scientific problems that need to be urgently solved in the field of plasma medicine are also discussed. This review will provide useful guidance for future related research.