The invention discloses an intraoperative three-dimensional
point cloud generation method and device and an intraoperative
local structure navigation method, and belongs to the field of surgical navigation, and the intraoperative three-dimensional
point cloud generation method comprises the following steps: obtaining a
white light image and a
fluorescence image; identifying two-dimensional pixel points of the physiological tissue from the
white light image; identifying a fluorescent point from the fluorescent image; the fluorescent point is an image of the position where the fluorescent gel is dispensed on the physiological tissue in advance on the fluorescent image; calculating the
object distance of the fluorescent gel according to the brightness of the fluorescent points; the three-dimensional
point cloud of the two-dimensional pixel points is obtained through matching according to the corresponding positions of the fluorescent points in the two-dimensional pixel points and the
object distance of the fluorescent gel, the three-dimensional point cloud aiming at the physiological tissue can be generated only through a common fluorescent
endoscope without the help of a 3D lens, and the
local structure navigation method in the operation is small in calculation amount, high in anti-interference capacity and high in accuracy. And the problems of poor flexible tissue matching and difficulty in real-time navigation in the operation are solved.