Keywords Navigator for surgery;Computer-Integrated Surgery;Camera calibration;Lens distortion;Nonparallel axes stereo;Planar homography matrix;Surgical instruement calibration;3D image registration;

• 手术导航仪;计算机集成外科手术;摄像机标定;镜头畸变;双目立体视觉;平面单应矩阵;手术器械标定;立体图像配准;