Abstract: Raw mesh is often non watertight manifold, and contains a variety of defects, such as holes, inconsistent surface normal, self-intersection and so on, which is difficult to be directly applied to subsequent applications. Therefore, a robust watertight manifold mesh repair method is proposed. Firstly, the Manifoldplus and winding number are used to build a watertight manifold guiding surface that approximate the input mesh; Then, the restricted Voronoi diagram (RVD) is computed on guiding surface and restricted Delaunay triangulation (RDT) is obtained through duality; By decomposing the non manifold problem into the RVD and RDT, it is ensured that the computed RDT is watertight manifold mesh; Finally, auxiliary points are added to the original mesh edges to maintain the feature of original mesh. Based on the Windows 10 platform, the comparison experiment on the ModelNet10 public dataset shows that the average accuracy of the proposed algorithm is 1.54×10^-6, equivalent to the Manifoldplus method. However, when the input model contains holes, manifestplus can not fill the holes reasonably. In contrast, the proposed algorithm can fill the holes reasonably.