Force preloading and puncture device capable of reducing puncture soft tissue deformation

The invention relates to a force preloading and puncture device capable of reducing puncture soft tissue deformation. The force preloading and puncture device comprises a base, multiple supports are distributed on the base and connected with sleeves welded to two fixing clamp slots through positioning screws, relative positions of the sleeves and the supports can be changed so as to adjust relative height of the fixing clamp slot I and the fixing clamp slot II, an electric actuator I is fixed on the fixing clamp groove I through two coupling screws, and an electric actuator II is connected with the fixing clamp groove II through two coupling screws. A puncture needle is connected to the electric actuator I, a support plate is connected to the electric actuator II and connected with a guide tube, the guide tube is mounted concentrically to the puncture needle, the fixing clamp slot I and the fixing clamp slot II are disposed vertically, and the electric actuators are driven by a servo motor.