Fig. 1. Optical surgical navigation system

Fig. 2. Planning a virtual scene

Fig. 3. Workflow of the server

Fig. 4. Coordinate transformation principle

Fig. 5. Virtual registration scene

Fig. 6. Operation scene during registration

Fig. 7. Experimental models and markers

Fig. 8. The effect after the registration is completed

Fig. 9. Registration error of experimental models

Fig. 10. The scene after registration is complete

Fig. 11. Skull model and virtual reality fusion scene

Fig. 12. Registration error of skull model