Preoperative space registration method and device, computer equipment and storage medium

The invention provides a preoperative space registration method of an ankle joint surgical robot system, relates to surgical robot image registration, and adopts the specific implementation scheme that an optical positioning system is used as a space registration core; a transformation matrix between a base coordinate system of the mechanical arm and a three-dimensional image coordinate system is calculated by calculating a transformation matrix between the base coordinate system of the mechanical arm and an optical positioning system coordinate system, a transformation matrix between the optical positioning system coordinate system and a focus coordinate system and a transformation matrix between the focus coordinate system and a three-dimensional image coordinate system. The method is a space registration method based on an optical positioning system, a focus space position is mapped to a base coordinate system of the mechanical arm, a foundation is laid for a tool at the tail end of the mechanical arm to a