Any graph is "drawable" on a 2D surface?

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Are there any theorems that say something formal about the fact that any graph is drawable on a 2D surface, and can be mapped to a 2D array of pixels if the pixels are infinitely small?
 
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When you say that, it implies that there is some way to distinguish between edges that cross at a point which is not a vertex and edges that meet at a vertex. In general, there will be lines crossing with no vertex there.
 
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paizhaulski said:
Are there any theorems that say something formal about the fact that any graph is drawable on a 2D surface, and can be mapped to a 2D array of pixels if the pixels are infinitely small?

Look at material about "planar graphs". Not all graphs are planar graphs.