Skeleton registration method and system, surgical robot system and storage medium

The invention provides a bone registration method and system for a surgical navigation system, a surgical robot system and a storage medium. The method comprises the steps that a source point set SPS is obtained through preoperative bone image data; generating a target point set TPS by using point data collected from the actual skeleton surface; selecting four groups of point pairs from the SPS and the TPS to carry out initial registration, and solving transformation T1; the transformation T1 and SPS are used, the TPS is converted into a three-dimensional model space overlapped with the SPS, a point Li collected from the actual bone surface is modified through iteration, T1 transformation errors are improved, and an accurate transformation matrix and registration errors are obtained. Iterative modification is carried out by randomly selecting four points in a sphere with the sphere center being the point Li, calculating transformation T1 between each random point and a corresponding point Mi on the 3D virtual