A　bio-micromanipulation　system　is　designed　for　manipulating　micro-objects　with　a　length　scale　of　tens　or　hundreds　of　microns　based　on　stereo　light　microscope.　The　world　coordinate　reconstruction　of　points　on　the　surface　of　micro-objects　is　an　important　goal　for　the　micromanipulation.　Traditional　pinhole　camera　model　is　applied　widely　in　macrocomputer　vision.　However,　this　model　will　output　bad　data　with　remarkable　error　if　it　is　directly　used　to　reconstruct　three-dimensional　world　coordinates　for　stereo　light　microscope.　Therefore,　a　novel　and　improved　pinhole　camera　model　applied　in　bio-micromanipulation　system　is　proposed　in　this　article.　The　new　model　is　composed　of　binocular-pinhole　model　and　error-correction　model.　The　binocular-pinhole　model　is　used　to　output　the　basic　world　coordinates.　The　error-correction　model　is　used　to　correct　the　errors　from　the　basic　world　coordinates　and　outputs　the　final　high-precision　world　coordinates.　The　results　show　that　the　new　model　achieves　a　precision　of　0.01　mm　in　the　X　direction,　0.01　mm　in　the　Y　direction,　and　0.015　mm　in　the　Z　direction　within　a　maximum　reconstruction　distance　of　4.1　mm　in　the　X　direction,　2.9　mm　in　the　Y　direction,　and　2.25　mm　in　the　Z　direction,　and　that　traditional　pinhole　camera　model　achieves　a　lower　and　unsatisfactory　precision　of　about　0.1　mm.