To efficiently locate the acupoint during massage, acupuncture as well as other related Chinese medicine diagnosis and treatment. Combining with the principle of monocular vision calibration and positioning, a method for positioning and conversion of traditional Chinese medical manipulator coordinates based on the conversion matrix between three-dimensional coordinate systems is proposed. Obtain the camera's internal parameters by performing camera calibration and establish the camera's three-dimensional world coordinate system firstly,establish the conversion relationship between the camera's three-dimensional world coordinate system and the robot coordinate system based on the custom label image that can be pasted on any fixed position of the manipulator by establishing a homogeneous equation through the three-dimensional coordinate points and solving the optimal homogeneous rotation matrix (R) and translation vector (T).The RT homogeneous matrix is used as the key conversion matrix of the two coordinate systems, and the three-dimensional coordinates of the coordinate points in the coordinate system agreed on the label plane can be obtained through mathematical operation of the point coordinate data and the optimal conversion matrix, which is helpful to complete the manipulator According to the spatial coordinate conversion and precise positioning of the diagnosis position. Using the six-pointed star map as the label map based on the proposed method, the effectiveness and accuracy of the proposed method are verified by simulation experiments.