Accurate space positioning puncture equipment

The invention discloses accurate space positioning puncture equipment which is composed of a four-axis compound motion positioning puncture mechanism and a mounting mechanism used for mounting the positioning puncture mechanism. The positioning puncture mechanism is composed of an arc-shaped arm, a pitching mechanism, a deflection mechanism and a moving mechanism; the two ends of the arc-shaped arm are hinged to the mounting mechanism; the pitching mechanism is in driving connection with the arc-shaped arm and the mounting mechanism; the deflection mechanism is arranged on the arc-shaped arm in a sliding mode; the moving mechanism is arranged on the lower portion of the deflection mechanism in a sliding mode; and a needle holder moving in a reciprocating mode is mounted on the moving mechanism. According to the invention, non-blind-region puncture is implemented by adopting four-axis linkage, and accurate puncture can be implemented on a complex and shielded target part; and meanwhile, according to the invent