Fig. 1. Work flow chart

Fig. 2. Experimental platform model

Fig. 3. Flow chart of single structured light plane calibration

Fig. 4. Calibration of structured light plane

Fig. 5. Linear constraint graph

Fig. 6. Plane constraint graph

Fig. 7. Flow chart of multi-structured light plane calibration

Fig. 8. Experimental platform entity model

Fig. 9. Checkerboard calibration pattern

Fig. 10. Camera coordinate points collected from a group of images

Fig. 11. Optimization result of single structured light plane

Fig. 12. Multi-structured light plane optimization results

Fig. 13. Image refinement result and structured light strip extraction result

Fig. 14. Fitting results of the plane of the needle insertion area on the back of the hand