The invention relates to a registration and navigation method based on a three-dimensional point cloud of bones, which is characterized in that: based on DICOM data images, a virtual coordinate system of X, Y, and Z three-dimensional point clouds is formed. At the same time, the robot can pass through the probe to achieve balanced data collection on both sides of the bone, and establish the X, Y, Z three-dimensional midpoint cloud world coordinate system. In the X, Y, Z three-dimensional point cloud virtual coordinate system and the world coordinate system dynamic fast registration navigation calculation, including acceleration for rigid registration and flexible registration. Finally, the parameters such as navigation position and angle are corrected. As a result, the robot can realize dynamic registration and navigation of X, Y, and Z three-dimensional point clouds, solve the current problems of unsatisfactory registration accuracy and excessive ray exposure, improve navigation accuracy and efficiency, and make the registration and navigation accuracy of orthopedic robots ≤ 0.5 mm, can avoid radiation exposure and further improve navigation accuracy. The method provided by the invention can be realized by cooperating with software programming, which meets the requirement of automatic implementation and adjustment.