A micro actuator for inner ear injection and sampling surgery is provided. The microneedle puncture mechanism module is embedded in the driving and sensing module. The driving and sensing module is installed on the high-precision linear driving module. The end-effector mechanism module is installed in the front of the driving and sensing module. The microneedle puncture mechanism module passes through the end operating mechanism module and extends. An endoscope camera module located in the end-effector mechanism module provides real-time images of a surgical process. A tension sensor in the driving and sensing module monitors tension changes of steel wires in real time to ensure safe interaction with the intra-ear environment.