Marker point registration method, device and surgical navigation system

The invention is applicable to the technical field of medical image processing and application, and provides a marker point registration method and device and a surgical navigation system. The method comprises that a space positioning error of each physical space marker point is calculated according to physical coordinate values of physical space marker points obtained many times and the average value of the physical coordinate values; a weight matrix of the physical space marker point is calculated according to the space positioning error; according to the average value of the physical coordinate values of the physical space marker points, and the average value of image coordinate values of the image space marker points, by combining the weight matrix, under the premise that the minimum marker point registration error FRE is ensured, a translation vector t and a rotation matrix R are solved by an iterative method. According to the utility model, the anisotropic nature of the space positioning error of the optical positioning system can be fully considered, so that the navigation accuracy of the entire surgical navigation is improved finally.