The invention relates to a force and position mixed sensing and
control system and method for cataract ophthalmologic
surgery. The method comprises the steps that a first adjusting parameter is calculated according to position and posture change data, collected by a position and posture collecting module, of an eyeball position and posture at the first moment; acquiring an actually measured
contact force at a first moment acquired by a
force sensor; acquiring puncture depth data of the
surgical instrument at a first moment based on a
pose acquisition module; inputting the puncture depth data into a preset puncture force model to obtain a predicted
contact force; operating parameters of an
admittance controller are adjusted according to the force error value of the actually measured
contact force and the predicted contact force; outputting a second adjustment parameter based on the
admittance controller according to the actually measured contact force; and inputting the initial operation instruction, the first adjustment parameter and the second adjustment parameter into a preset instruction adjustment model to generate a target operation instruction at a second moment. The ophthalmic
surgical robot can adapt to diversified surgical scenes with high precision and low interference, and meanwhile, the operation accuracy and smoothness of the ophthalmic
surgical robot and the safety of the
ophthalmic surgery are considered.