The invention relates to a penetrating pincer type spine micro-surgery manipulator, which comprises an organic casing, a base plate is arranged on the casing, and a working channel with a guide cylinder structure is arranged under the casing, and the feature is that: the base plate is provided with A plurality of through holes are provided with a penetrating forceps type soft tissue processing mechanism, a penetrating forceps type bone tissue processing mechanism, an endoscope, nerve retraction and suction mechanisms. Moreover, a connecting mechanism is arranged on the casing. Thereby, the function switch between the simple cutter and the pincer structure can be realized freely, and both decompression and pedicle screw placement can be performed. Each mechanism adopts an integrated design with each other, occupying a small volume. At the same time, each mechanism can effectively realize mutual cooperation to meet the needs of safe and efficient micro-spine surgery robotic hand decompression and pedicle screw placement.