Kidney puncture operation navigation method and device based on mixed reality

The invention discloses a kidney puncture surgery navigation method and device based on mixed reality. The method comprises the following steps: creating a three-dimensional virtual abdomen model of the abdomen of a patient and a three-dimensional virtual mechanical arm model of a puncture mechanical arm; printing to obtain a three-dimensional puncture phantom; building a virtual scene of the three-dimensional virtual abdomen model and the three-dimensional virtual mechanical arm model; creating a first position coordinate code of the three-dimensional puncture phantom in the virtual scene and a second position coordinate code of the puncture mechanical arm in the virtual scene; marking the coordinates of the first position coordinate code on the three-dimensional puncture body model and the second position coordinate code on the puncture mechanical arm; the first position coordinate code and the second position coordinate code are scanned, the three-dimensional virtual abdomen model and the three-dimensional