A rotary guiding device, comprising: a rotating shaft , wherein the rotating shaft is used to drive a tool head to rotate, and the rotating shaft includes at least one steerable portion ; a first non-rotating body and a second non-rotating body , the first non-rotating body and the second non-rotating body being substantially in a non-rotating state in a circumferential direction thereof relative to the rotating shaft when the rotating shaft drives the tool head to rotate; a guide driving mechanism , the guide driving mechanism being configured to connect the first non-rotating body and the second non-rotating body, the guide driving mechanism being adapted to generate a substantially axial driving force to change the relative direction between the first non-rotating body and the second non-rotating body, thereby changing an orientation of the tool head, wherein; the guide driving mechanism is further adapted to generate a substantially radial driving force to change the relative direction between the first non-rotating body and the second non-rotating body, thereby changing the orientation of the tool head; and the guide driving mechanism comprises at least three pushing members , each one of the pushing members being adapted to move in a radial direction of the rotating shaft to push against the wall of the well, thereby changing the orientation of the tool head; characterized in that the guide driving mechanism includes a first piston cylinder disposed in the first non-rotating body and a second piston cylinder disposed in the second non-rotating body, the first piston cylinder and the second piston cylinder being connected by a connecting rod (6-1), and the second piston cylinder being adapted to drive the respective pushing member to move. a rotating shaft , wherein the rotating shaft is used to drive a tool head to rotate, and the rotating shaft includes at least one steerable portion ; a first non-rotating body and a second non-rotating body , the first non-rotating body and the second non-rotating body being substantially in a non-rotating state in a circumferential direction thereof relative to the rotating shaft when the rotating shaft drives the tool head to rotate; a guide driving mechanism , the guide driving mechanism being configured to connect the first non-rotating body and the second non-rotating body, the guide driving mechanism being adapted to generate a substantially axial driving force to change the relative direction between the first non-rotating body and the second non-rotating body, thereby changing an orientation of the tool head, wherein; the guide driving mechanism is further adapted to generate a substantially radial driving force to change the relative direction between the first non-rotating body and the second non-rotating body, thereby changing the orientation of the tool head; and the guide driving mechanism comprises at least three pushing members , each one of the pushing members being adapted to move in a radial direction of the rotating shaft to push against the wall of the well, thereby changing the orientation of the tool head; characterized in that the guide driving mechanism includes a first piston cylinder disposed in the first non-rotating body and a second piston cylinder disposed in the second non-rotating body, the first piston cylinder and the second piston cylinder being connected by a connecting rod (6-1), and the second piston cylinder being adapted to drive the respective pushing member to move. <EOS>