Puncture needle limiting navigation device with opening and closing structure and puncture robot

The utility model discloses a puncture needle limiting navigation device with an opening and closing structure and a puncture robot. The limiting navigation device comprises a first opening and closing piece, a second opening and closing piece, a support, a limiting device and a driving device. One end of the bracket is movably connected with the first opening-closing piece and the second opening-closing piece, and the other end is fixedly connected with a main body support frame of the puncture robot; the limiting device can axially and movably sleeve the support and/or the first opening and closing piece and the second opening and closing piece, and the first opening and closing piece and the second opening and closing piece can be in an opening state and a closing state along with movement of the limiting device. The driving device is in driving connection with the limiting device; a through hole for a puncture needle to penetrate through is formed in the middle of the first opening and closing piece and t