The invention provides a target tracking compensation control method and
system for a
surgical robot in a dynamic
breathing environment, and the method comprises the steps: collecting an ultrasonic image of a patient in real time, and carrying out the self-adaptive
admittance control algorithm based on force feedback; force control output is adjusted in a self-adaptive mode according to the
contact force between the ultrasonic probe and the
skin surface and the change of the displacement and speed state of the ultrasonic probe, rigidity parameters of an
admittance control model are adjusted in real time, constant
contact force between the ultrasonic probe and the
skin surface is kept, and it is ensured that the ultrasonic probe and the
body surface keep stable
contact force and meanwhile adapt to the dynamic change of the
body surface; a focus is continuously identified and positioned by utilizing a real-time ultrasonic image through
template matching and a dynamic template updating
algorithm, real-time position information of an internal focus target spot is obtained and serves as a target
pose, the motion compensation amount of a puncture mechanical arm is calculated, the track of a puncture needle point and the motion of the target spot are kept synchronous, and the target
pose is accurately positioned. And target tracking and compensation control in a dynamic
breathing environment are realized. Target tracking compensation control of the
surgical robot can be carried out.