Real-time fine-tuning puncture robot aiming at target displacement in puncture and use method of real-time fine-tuning puncture robot

The invention belongs to the field of medical robots, and relates to a puncture robot which is applied to percutaneous puncture surgery and can realize real-time fine adjustment of a puncture path along with displacement of a target spot. The device comprises an initial positioning module, a puncture posture adjusting module and a puncture direction fine adjustment module. The main purpose of the invention is to solve the problems of tumor displacement caused by influence of various internal and external factors and low puncture precision caused by no corresponding change of a needle insertion path in the puncture process. After the robot determines the position of a target spot, the initial positioning module achieves initial positioning in the X-axis direction and the Y-axis direction. The puncture posture adjusting module can achieve movement of a needle body in the Z-axis direction through synchronous movement of a pair of parallel sliding tables, adjustment of the pitching angle of a puncture needle is a