The system structure and operation process of the minimally invasive surgery robot based on vision location technology are expounded. The three- dimensional location problem of robotpsilas hand-eyes vision system is lucubrated, whose core idea is directly putting the image coordinate mapped into the robotpsilas radical coordinate and getting the system parameter as a whole and not separately calculating every parameter of camera inner. According to the basic principal of three-dimensional vision, the there-dimensional vision model and camera calibrating model are set up and the vision location system of the minimally invasive surgery robot is designed. The experiment proves that the method has a better location effect and analyzes the reason of causing the error.