Three-dimensional endoscope with appliance pose navigation and navigation method thereof

The invention relates to a three-dimensional endoscope with appliance pose navigation and a navigation method thereof. The method comprises the following steps: placing the front end of the three-dimensional endoscope at a position a certain distance away from a measured surface to project line laser, collecting structured light of the measured surface, respectively extracting and calculating structural points on a camera plane, and acquiring a three-dimensional coordinate value of a curved surface point cloud under an endoscope coordinate system; converting coordinate values of the measured surface on the endoscope coordinate system into an electromagnetic sensor coordinate system; rendering the curved surface point cloud under the electromagnetic coordinate system to generate an entity curved surface; calculating a weighted average value of three-dimensional coordinates of all curved surface point clouds for generating the entity curved surface to obtain a space coordinate value of the gravity center G of t