The invention discloses an ultrasonic surgery auxiliary navigation system based on binocular vision, and belongs to the field of vision positioning technology. According to the invention, on the basis of the binocular vision positioning technology, a binocular vision positioning device and an ultrasonic probe are fixed together by a coordinate system calibration device, meanwhile points under the world coordinate system are subjected to imaging, coordinates of the imaging in the respective coordinate systems are calculated, then the transformational relation of the respective coordinate systems is calculated, and surgical instruments and foci are fused by the transformational relation in the same three-dimensional coordinate system for display in an image work station. The technical scheme of the invention overcomes the problems of conventionally, a puncture intervention surgery cannot be guided continuously in real time and the operation is not flexible and convenient enough, the surgery auxiliary guidance is carried out by using the positioning device based on machine vision and by an image processing algorithm, and the whole system has the advantages of high speed, high precision, small occupation space and so forth.