530 results about "Medical robot" patented technology

The teachings generally provide for a hand-held medical robotic system for use with a surgical tool, the system comprising an instrument comprising a hand-held portion, a tool support coupled to the hand-held portion, and an actuator assembly operatively interconnecting to move the tool support in a plurality of degrees of freedom to place the surgical tool and a localizer. The system additionally comprises a control system configured to determine a state of the surgical tool and determine a position and / or orientation of a reference coordinate system relative to a known coordinate system, activate a guided mode based on a first relationship criteria between the state of the surgical tool and the reference coordinate system, and deactivate the guided mode based on a second relationship criteria between the state of the surgical tool and the reference coordinate system, wherein the first relationship criteria and the second relationship criteria are different.

The invention belongs to the technical field of medical robots, and particularly relates to a mammary gland puncture surgical robot navigation system and device based on multi-modal image fusion. The multi-mode image data are registered and fused, high-precision three-dimensional reconstruction of the mammary gland tissue is achieved, more visual and accurate surgical navigation information is provided for doctors, the position of the puncture needle is tracked in real time, space registration is conducted on the puncture needle and the image data, and therefore the precision and safety of the surgery are improved, and the operation efficiency is improved. Meanwhile, puncture force feedback information of a puncture needle in the needle moving process is collected in real time, the implementation effectiveness of a puncture navigation path is evaluated, when it is found that the puncture path has risks, dynamic adjustment is conducted immediately, a new puncture path bypassing an obstacle area and reaching a focus is planned again, and the risk of the puncture path is avoided. And if the safe path cannot be obtained, the system automatically stops needle insertion and gives an acousto-optic early warning prompt, so that the surgical risk caused by manual misoperation in the traditional surgery is avoided.

The invention relates to the field of medical robots, and discloses a meridian point foundation construction method for precise positioning of an acupuncture robot, which comprises the following steps: scanning skin texture, muscle contour and skeleton mark features of a human body surface, and establishing a human body surface feature digital model; the method comprises the following steps: acquiring temperature distribution data of a human body surface, human body surface feature digital model data and elastic modulus data, performing weight mapping feature level fusion to generate an enhanced acupuncture point feature map, and establishing an acupuncture point-meridian association relationship matrix based on the enhanced acupuncture point feature map; compared with the prior art, the method has the advantages that three-dimensional body surface scanning, infrared thermal imaging and elastic modulus data are integrated through the multi-modal data fusion technology to generate the enhanced acupoint feature map, the dynamic meridian-acupoint twinborn model is constructed in combination with double-ellipse section fitting and implicit curved surface reconstruction, and tissue deformation is simulated in real time.

The invention belongs to the technical field of medical robot control, and discloses a physiotherapy robot self-adaptive control method and system based on multi-mode biological feedback, and the method comprises the steps: carrying out the preprocessing of a biomechanical sensing signal obtained in advance, carrying out feature extraction and dynamic weight fusion on the preprocessed biomechanical sensing signal by utilizing wavelet transform and frequency domain transform to obtain a joint feature; establishing a system dynamics model based on a Lagrange equation, generating a time-varying impedance trajectory model by utilizing a joint state acquired in real time and combining a rolling optimization algorithm, and dynamically adjusting impedance parameters of the time-varying impedance trajectory model according to joint features to generate a safe motion trajectory; and performing double closed-loop control on the physiotherapy robot according to the safe movement track and a biomechanical sensing signal obtained in real time to obtain a control signal of the physiotherapy robot, and realizing joint motor driving of the physiotherapy robot based on the control signal. The device can be flexibly changed according to individual differences of patients and rehabilitation processes.

The invention relates to the technical field of medical robots, in particular to an alimentary canal catheterization robot navigation method and system based on multi-modal information fusion. The method comprises the following steps: carrying out real-time data acquisition on a human body cavity by utilizing a multi-mode sensor; the collected multi-modal data is preprocessed; synthesizing multi-modal data, extracting cavity environment characteristics, and establishing a three-dimensional model of a human body cavity in real time; human body cavity environment characteristics are analyzed, and local and global paths are generated; outputting the path to a catheterization robot controller, driving a catheterization robot, monitoring a navigation abnormal state in real time, and collecting and storing the path, the sensor state and operation data in the navigation process; the system comprises a data acquisition module, a data processing module, a three-dimensional model establishment module, a path generation module and a data monitoring module. Through the mode, the environment is comprehensively perceived, the navigation precision and the real-time performance are improved, and the high-precision operation requirement in a clinical complex environment is met.

The invention is suitable for the technical field of medical robots, and particularly relates to an intelligent hospital guide method and system and an intelligent hospital guide robot, and the method comprises the steps: obtaining department attribute data and a multi-mode operation record of a target patient, and integrating dynamic information; performing data feature fusion according to the multi-modal operation record and the department attribute data, and determining a triage adaptive feature group of the target patient; calling a historical triage database according to the triage adaptation feature group of the target patient to obtain the number of abnormal first triage instances in the historical triage database; screening in a historical triage database through the triage adaptation feature group of the target patient to obtain the number of second triage instances associated with the triage adaptation feature group; and according to the first triage instance number and the second triage instance number, the triage conflict coefficient is constructed, the hospital guide information of the target patient is determined according to the triage conflict coefficient, and special precise hospital guide based on the real-time features and historical data improves the doctor seeing experience of the patient.

The invention relates to the technical field of medical robot systems, and discloses a nerve plexus intelligent positioning anesthesia puncture robot system based on multi-modal fusion, which performs time-space synchronization on ultrasonic image flow and contact force data. The frequency domain analysis module extracts a main peak frequency by using optical flow field frequency domain transformation, and generates a probability mask for marking pulsatile tissues. The viscoelasticity verification module calculates phase lag parameters of visual deformation and contact force, identifies tissue rheological properties and calculates a dynamic damping coefficient. The deformation compensation module calculates a mechanical residual error based on a reference mechanical model, and inversely calculates the mechanical residual error into space deformation displacement of the tissue. The feedback control module combines the probability mask and the deformation displacement to generate a motion instruction. According to the invention, through multi-modal data fusion, precise identification of tiny blood vessels, dynamic identification of tissue attributes and real-time compensation of soft tissue conceding deformation are realized.

The invention relates to the technical field of medical robot control, in particular to a teleoperation control method and system for an alimentary canal catheterization robot. The control method comprises the following steps: acquiring digestive tract three-dimensional structure data of a patient by utilizing imaging equipment; based on the three-dimensional structure data, establishing a patient individualized three-dimensional operation model through a teleoperation system; planning a catheterization path and an operation strategy according to the three-dimensional operation model; collecting motion state data of the alimentary canal catheterization robot in real time through a sensor of the teleoperation system; dynamically matching the motion state data acquired in real time with the three-dimensional operation model of the patient; deviation information fed back by a sensor in the operation process is obtained, an angle error signal is generated, and the catheter arranging robot is corrected in real time by adjusting a control strategy; the control system comprises a target sensor, a teleoperation part, a control module and an upper computer. By means of the mode, delay is reduced, high-precision control is provided, the force sensing technology is introduced, the feedback experience of an operator is enhanced, and therefore the precision and safety of surgical operation are improved.

The present invention relates to a medical robot, and in particular to a flexible endoscope manipulation robot. The robot comprises a flexible endoscope support unit and a flexible endoscope main operation robot arranged on the flexible endoscope support unit, wherein the flexible endoscope main operation robot comprises a flexible endoscope positioning unit, a flexible endoscope conveying unit, a flexible endoscope operation unit and a flexible endoscope following unit, wherein the flexible endoscope positioning unit is connected to the flexible endoscope support unit, and the flexible endoscope operation unit is connected to the flexible endoscope positioning unit through the flexible endoscope following unit; the flexible endoscope operation unit is used to connect to the flexible endoscope and control the movement of the flexible endoscope; the flexible endoscope conveying unit is arranged on the flexible endoscope positioning unit, and is used to clamp and convey the flexible endoscope. The present invention realizes intelligent robot intervention by precisely controlling the flexible endoscope and combining remote teleoperation to avoid X-ray radiation to the doctor, and integrates sensor information.

The invention discloses a control method for a mechanical arm of a medical robot, which comprises the following steps: determining the magnitude and direction of a force applied to a tail end joint of a surgical instrument in real time, the surgical instrument being mounted on the tail end joint of the mechanical arm; under the condition that the force borne by the tail end of the surgical instrument is smaller than a first set threshold value, the direction opposite to the direction of the force borne by the tail end of the surgical instrument serves as the traction direction, and the operation point of the surgical instrument on the body of the patient serves as a fixed point; the rotation speed and the rotation direction of the mechanical arm around the fixed point and the axial translation speed and the axial translation direction of the mechanical arm relative to the fixed point are determined; and the mechanical arm is controlled to move according to the rotating speed and the rotating direction of the mechanical arm around the fixed point and the axial translation speed and the axial translation direction of the mechanical arm relative to the fixed point. The invention further provides electronic equipment, a computer readable medium and a medical robot.

The invention belongs to the technical field of medical robots, and discloses a surgical robot accurate pose real-time registration method and system based on multi-sensor fusion, and the system comprises a multi-source sensing collection assembly; a time-space calibration mechanism; fusing a resolving platform and an exception elimination platform; a deformation sensing and dynamic compensation device; and a registration result closed-loop feedback unit. According to the invention, a multi-source sensing acquisition assembly and a synchronous control board are integrated on a hardware level, a nanosecond timestamp is generated by using a high-precision clock driven by an onboard crystal oscillator, and a cross-correlation delay calculation chip is combined to execute a cross-correlation function method delay estimation formula, so that microsecond-level accurate correction of delay amount among sensing sources is realized; the coordinate transformation unit automatically selects a matched calibration matrix according to a correction result, multi-source data such as optical positioning, inertial measurement, a torque sensor, ultrasonic or electromagnetic positioning and the like are unified to a global rectangular coordinate system, and the structure can effectively ensure the consistency of time and space references of data output by different sensors.

The invention relates to a robot track synchronization control method. According to the technical scheme, efficient collection and over-distance transmission of neural signals are achieved through the quantum entanglement technology, the brain movement intention is analyzed in combination with a high-sensitivity sensor and an intelligent algorithm, an instruction is transmitted to a robot power driving system through a low-delay communication architecture, and real-time synchronization of man-machine tracks is achieved through a two-way feedback system. Meanwhile, the movement flexibility of the robot is improved by adopting a lightweight design, the problems of high delay, low precision, poor interaction experience and the like in traditional man-machine synchronous control are solved, and the method can be widely applied to the fields of exoskeleton robots, industrial collaborative robots, rehabilitation medical robots and the like. The method has the advantages of being low in delay, high in precision, capable of improving interaction experience and wide in application range.

Robotic surgical systems configured to control the movement and actuation of a single robotic arm, and the movement and actuation of first and second tools carried in a tool holder at a distal end of the robotic arm.

The invention relates to the technical field of ultrasonic medical robots, and discloses a superficial ultrasonic scanning path planning method and device based on an SVD-improved RRT algorithm. The superficial ultrasonic scanning path planning method is applied to ultrasonic medical robot equipment, and specifically comprises the following steps: S101, receiving a data acquisition request sent by a main control end, controlling a Kinect camera to acquire a superficial depth image, processing 20 groups of calibration board images through a Matlab calibration tool box, and executing a corner detection algorithm to identify checkerboard corners, and optimizing and solving the internal reference matrix of the infrared camera. According to the method, SVD plane fitting and an improved RRT algorithm are fused, the precision and efficiency of an ultrasonic scanning path are remarkably improved, in the point cloud processing stage, statistical filtering and voxel gravity center down-sampling synergistically act, point cloud noise is reduced by 90%, meanwhile, more than 95% of three-dimensional features are reserved, a high-fidelity data basis is provided for path planning, and the method has good application prospects. SVD plane fitting forcibly passes through the center of mass, and the error is smaller than or equal to 0.5 mm

The invention relates to the technical field of logistics transportation, and discloses a medical article intelligent transportation method and device based on task scheduling and a medium, and the method comprises the steps: generating transportation tasks of to-be-transported medical articles, and sorting the transportation tasks according to the priorities of the to-be-transported medical articles; scheduling a target medical transport robot corresponding to a transport task in the transport task sequence according to the real-time working state; controlling the target medical transportation robot to execute a medical article transportation action; environment data and task execution states in medical article transportation are monitored in real time, and robot redistribution strategies corresponding to the to-be-transported medical articles are generated according to the task execution states and the task emergency degrees; determining an optimization factor of the initial transportation track according to the transportation state; and the initial transportation track is dynamically optimized through the optimization factor and the environment data, and the redistribution medical robot is controlled to execute the medical article transportation action according to the optimized initial transportation track. The efficiency of medical article transportation can be improved.

The invention belongs to the technical field of medical robots, and discloses a photoelectric fusion positioning error compensation method and system for a surgical robot. The system is composed of an optical positioning acquisition module, an electromagnetic interference detection and auxiliary positioning module, a photoelectric dynamic fusion and weight adaptive adjustment module, a real-time error dynamic modeling and feedback module and a motion compensation control and path adjustment module. The optical positioning acquisition module adopts the design of a multi-angle camera and three-dimensional distributed infrared identification points, and captures the pose information of the actuator in all directions; the electromagnetic interference detection and auxiliary positioning module monitors environmental interference in real time and calibrates electromagnetic positioning data by establishing an interference model; the photoelectric dynamic fusion and weight adaptive adjustment module effectively fuses two types of data by using extended Kalman filtering and a dynamic weight algorithm, can eliminate adverse factors such as a visual angle blind area and environmental interference in all directions, accurately obtains the pose of an actuator, and remarkably improves the accuracy and reliability of operation positioning.

The invention provides a reinforcement learning training method and system based on a multi-target structured reward function, and the method comprises the steps: an environment simulation layer comprises a physical engine and a blood vessel environment simulator, and is used for simulating the physical movement and interaction of a catheter in a blood vessel, and providing an environment state for a reward calculation layer; the reward calculation layer performs calculation through a plurality of independent calculation modules and finally generates a comprehensive reward value through a composite reward aggregator; the reinforcement learning layer learns and optimizes a navigation strategy according to the comprehensive reward value; and the monitoring evaluation layer monitors each performance index in the training process and adaptively adjusts the weight of each reward component in the reward calculation layer according to the index change. According to the invention, a major breakthrough of reinforcement learning in medical robot training is realized. Compared with a traditional single reward function method, the intelligent agent which is really thought by experts can be trained, and the method not only pursues to quickly reach a target, but also knows how to safely and stably complete operation.

The invention belongs to the field of medical robots, and relates to a method, device and equipment for adjusting a DSA ray frame rate and a storage medium, and the method comprises the steps: obtaining a current exposure frame rate of a DSA; acquiring operation parameters of an operator end; and generating an updated DSA exposure frame rate according to the current exposure frame rate and the operation parameters, and sending the updated DSA exposure frame rate to the DSA, so that the DSA performs imaging according to the updated DSA exposure frame rate. The DSA ray frame rate can be adjusted according to the related motion parameters of the interventional instrument, so that the radiation dose received by an operation object, an operator and an assistant is reduced, and damage caused by radiation is relieved.

The invention discloses a design method of a barrier function rehabilitation robot safety tracking control system, and relates to the technical field of medical robots. The method comprises the steps that on the basis of an existing double-joint single-arm robot mathematical model, a mathematical model with uncertain model parameters, uncertain external disturbance and uncertain external force borne by the tail end is established, and the established model is closer to a real model of a rehabilitation robot; the uncertainty in the model is classified into one class, and a disturbance observer is used for estimating and compensating the uncertainty; a logarithmic obstacle Lyapunov function is adopted to constrain the joint angle; and designing an adaptive trajectory tracking controller based on the disturbance observer and the obstacle Lyapunov function method, and tracking a set trajectory. The high-precision tracking of the target trajectory is ensured, the actual motion trajectory always moves within a certain range on the two sides of the target trajectory, and the secondary injury of the patient in the rehabilitation process is avoided.

The invention belongs to the technical field related to medical robots, and discloses a rigid-flexible coupling pneumatic humanoid dexterous finger and a dexterous hand. The dexterous finger comprises a sectional corrugated pipe actuator, a rigid cover plate, a rigid bottom plate, a flexible finger pulp patch and a one-way stretchable fabric; a cooperative structure of rigid supporting, flexible driving and contact adaptation is formed through a preset assembly relation; by designing the wave number of the corrugated pipe at each joint of the pneumatic dexterous finger, the bending proportion of each joint is ensured to accord with the human hand movement rule; the one-way stretchable fabric can restrain ineffective upheaval at the joints, and the energy conversion efficiency is improved. The dexterous hand can integrate five anthropomorphic-size dexterous fingers, and the palm notch angle, the thumb turning direction angle and the flexible palm patch are all engraved with the physiological characteristics and structure of the hand of the human body. According to the pneumatic dexterous hand, personification of the pneumatic dexterous hand in appearance and movement modes is achieved, flexibility and bearing stability are both considered, and the pneumatic dexterous hand can meet the requirements of multiple scenes such as medical care and industrial assembly.

The invention belongs to the technical field of medical robots and minimally invasive surgery, and provides a robot control system and method for blue laser vaporization surgery of prostatic hyperplasia. Mapping the nuclear magnetic image volume data to a deformation field under an ultrasonic acquisition coordinate system, and deforming the preoperative nuclear magnetic image to an intra-operative ultrasonic space by using the deformation field to complete image registration; fusing the registered image with a stereoscopic vision system; the spatial depth of the surface of the target tissue is obtained from the endoscopic image so as to supplement navigation information; according to the utility model, the prostate deformation and probe posture change adaptive capacity in an operation is improved, the real-time visual closed-loop regulation and control capacity is improved, and the characteristics of small light spots, shallow heat diffusion, excellent hemostasis and the like of blue laser are combined, so that the vaporization and hemostasis precision in a tiny blood vessel dense area is ensured, and the problems of large tissue trauma and the like are avoided.

The invention discloses an intelligent ward patrol robot, and relates to the technical field of intelligent medical robots, the intelligent ward patrol robot comprises a robot body, and the robot body is internally provided with a multi-mode sensing unit, an edge calculation unit, a federal learning unit and a decision execution unit. According to the multi-mode sensing unit, a polarization type 3D camera, a 60 GHz millimeter wave radar and an environment sensor array are integrated in a robot body. By installing the multi-mode sensing unit, the non-contact emotion recognition function is achieved, in combination with contact detection of the intelligent bracelet on the signs of the patient, the bottleneck of non-contact emotion and sign cooperative monitoring is broken through, the emotion sensing ability of the patient is improved, and the medical service quality is improved.

The invention provides a supporting arm for a medical robot and an auxiliary puncture system, and belongs to the technical field of medical equipment, specifically, the supporting arm comprises supporting arm assemblies, the first ends of the supporting arm assemblies are provided with first rotating joints, and the two supporting arm assemblies are connected through second rotating joints; a damping assembly; an adjusting assembly; and a locking member. According to the damping supporting arm provided by the embodiment of the invention, in the adjusting process, an operator usually roughly adjusts a puncture robot to a certain position firstly, then fine adjustment is carried out according to an operation position, an operation position and the like, the supporting arm is locked after fine adjustment, and in the process from rough adjustment to fine adjustment, the supporting arm is locked after fine adjustment. The damping assembly can provide rotating damping at the first rotating joint and the second rotating joint, so that the rotating damping provided by the damping assembly can enable the surgical equipment to keep the current position and angle no matter where the puncture robot is rotated to by an operator, and the adjusting efficiency of the position of the surgical equipment is greatly improved.

The invention discloses a medical robot autonomous path planning method based on convex optimization and a related device. The method comprises the following steps: acquiring an environment point cloud to construct a three-dimensional working space; performing alpha-shape segmentation on a collision-free region to obtain a convex set sequence; constructing a convex set graph by taking the convex set as a vertex and the intersection as an edge; shortest path mixed integer programming is established on the graph, and convex set coverage, continuity and acceleration constraint are added by taking the Bessel control point distance and the trajectory duration as targets; executing a convex set graph shortest path algorithm to obtain a discrete sequence, and then running mixed integer quadratic cone programming to output Bessel parameters; and circulating until the robot reaches the target. According to the method, the complex non-convex space is converted into the convex set sequence, efficient solving is achieved through convex optimization, the planning time is remarkably shortened, and the real-time performance and safety are improved.

The invention relates to the technical field of medical robot control, in particular to a neural network path planning method and system for a nasal digestive tract catheterization robot. The method comprises the following steps: establishing a digestive tract three-dimensional point cloud model; determining the pose of a path planning starting point and an end point, and generating a path point sequence; constructing an encoder network for extracting point cloud features of the digestive tract, and obtaining a trained encoder network; training the planning network by adopting the path point sequence to obtain a trained planning network; an encoder network and a planning network are combined with an alimentary canal point cloud model obtained in real time, and a path point sequence is obtained; calling a path planning network to update a global path according to environment information sensed by a sensor; the system comprises an encoder network module, a planning network module, a neural network path planning module and a continuous learning framework module. Through the mode, the efficiency of the robot in a complex, narrow and dynamic change environment is improved, and the real-time performance in an operation is met.

The invention discloses a robot-assisted execution system and method based on a pre-planned puncture scheme, and belongs to the technical field of medical robots. The method comprises the following steps: acquiring medical image data including a target area and a forbidden area; for the target area, a discrete candidate trajectory set is generated in a preset candidate trajectory generation cone, and each candidate trajectory is a space path connecting one point in the generation cone and the target area; performing a rigid geometric constraint check on the discrete candidate trajectory set to screen out candidate trajectories having geometric interference with the forbidden area to obtain a preliminarily purified candidate trajectory subset; executing a flexible quality index evaluation on each candidate trajectory in the candidate trajectory subset, and obtaining a comprehensive quality index for each trajectory; selecting a preferred execution track from the subset according to the comprehensive quality index; and the robot execution system is controlled, and puncture operation is completed according to the optimal execution track. The safety and clinical interpretability of a puncture path are improved.

The invention relates to the technical field of medical robots, in particular to a surgical robot and a remote motion center dynamic adjustment method for the surgical robot, and the method comprises the steps: building a kinematics constraint model between a tool axis of a surgical tool and a robot base coordinate system; on the basis of a visual sensor and a hand-eye transformation matrix, a pose measurement value of the remote motion center point under a robot base coordinate system is obtained in real time; fusing a pose state prediction quantity driven by a robot motion instruction and the pose measurement value, and generating an optimal estimation pose and a state covariance matrix of the remote motion center point; according to the state covariance matrix, determining whether the remote motion center point has a large offset; when it is judged that the large-amplitude offset occurs, a safety strategy is triggered to control the surgical robot. According to the technical scheme, dynamic tracking and real-time adjustment of the remote motion center point in the operation are achieved, and the problems that a traditional scheme is insufficient in flexibility and poor in safety are solved.

The invention provides an intelligent control method and system for a body-equipped robot based on man-machine interaction data, and relates to the technical field of medical robots, and the method comprises the steps: building a 5G network two-way transmission channel between a control end and a surgical robot end; through a 5G network two-way transmission channel, synchronously transmitting two types of data streams between the control end and the surgical robot end, namely a control instruction data stream generated by the control end and a surgical image data stream collected by the surgical robot end; in the transmission process of the two types of data streams, real-time network time delay is continuously monitored, whether the current network time delay exceeds a preset time delay threshold value or not is judged, and the preset time delay threshold value can be dynamically corrected according to the network state; and when it is judged that the current network delay exceeds the preset delay threshold, dynamically deploying a plurality of network probes on the 5G network two-way transmission channel. According to the invention, the real-time performance, the accuracy and the safety of the remote operation can be ensured.

The invention relates to the technical field of medical robots, and particularly discloses a complex scene simulation and motion assisting robot which comprises two sets of symmetrically-arranged unilateral training platforms, and each unilateral training platform comprises a supporting base, a front-back displacement platform, a left-right displacement platform, a vertical displacement platform, a rotation driving mechanism and a pedal mechanism. The pedal mechanism at least comprises a bottom plate, a pedal plate and a pedal driving mechanism used for driving the pedal plate to independently move relative to the bottom plate. Two groups of symmetrical unilateral training platforms work cooperatively, each platform is integrated with four-degree-of-freedom basic motion units composed of front-back, left-right and vertical displacement platforms and rotary driving mechanisms, and then is combined with a pedal mechanism with independent active driving capability; various daily and complex exercise scenes such as walking on the flat ground, going up and down stairs, trudge on mountains, surfing and the like can be reproduced, a highly-simulated dynamic environment is provided for rehabilitation training, the exercise simulation dimension is wider, and the precision is higher.

The invention relates to the technical field of medical robots, in particular to a laser treatment auxiliary robot and an auxiliary method thereof, and the method comprises the following steps: scanning a motion area, and obtaining obstacle detection records by calculating point cloud density, boundary form and curvature change parameters and identifying obstacles in the motion area. According to the method, through multi-layer point cloud scanning, the recognition precision of the mechanical arm on the obstacles in the movement area is optimized, the space sensing capacity is improved, the real-time data of the joint torque sensor are combined, the accuracy of collision risk assessment is enhanced, the speed and torque are dynamically adjusted, and the movement safety and stability are improved; according to the method, treatment starting coordinates are extracted by adopting tissue deformation in unit time, a surface curvature change value and a boundary shortest distance, the matching degree of a treatment area is improved, laser treatment is more accurate, a motion path is optimized by combining a surface geometrical shape and real-time operation feedback, trajectory mutation is reduced, and safety and consistency of a treatment process are improved.