In-vivo three-dimensional information measuring system for auxiliary decision making in minimally invasive surgery

The invention provides an in-vivo three-dimensional information measuring system for auxiliary decision making in minimally invasive surgery, and relates to the technical field of minimally invasive surgery. According to the method, any interested area label of a doctor is received, diversified measurement data is obtained, active selectivity and high reference in an operation are achieved, and the operation quality is improved to a certain degree; the three-dimensional information of the surgical site is obtained through an accurately reconstructed digital model, the real length, area and volume of the surgical site are provided through calculation, a doctor is assisted in making a more accurate decision in the operation, risks such as surgical accidents and hemorrhage in the operation are effectively avoided, the surgical safety is guaranteed, and the surgical medical quality is effectively improved. Besides, a binocular depth estimation network used by the introduced online self-supervised learning depth e