The embodiment of the invention provides a method and equipment for dynamically adjusting a
motion control mode based on an intraoperative visual field environment, a medium and a program product, and relates to the field of intelligent
medical treatment. The method comprises the following steps: acquiring an intraoperative view image and a preset basic force threshold value according to the
tissue type of a to-be-operated site; calculating an intraoperative tissue real-time deformation rate based on the intraoperative view image, and calculating a real-time force safety threshold according to a preset basic force threshold and the tissue real-time deformation rate; receiving real-time
contact force of the instrument and the tissue, comparing the real-time
contact force with a real-time force safety threshold value, and if the real-time
contact force is smaller than or equal to the real-time force safety threshold value, outputting an instruction of damping force in direct proportion to the real-time contact force; if the real-time contact force is larger than the real-time force safety threshold value, an emergency braking
program instruction is output. According to the method, factors, such as
tissue deformation and illumination change, which cause
instability of the surgical
field of view in the surgical environment are introduced, so that the environmental adaptability and dynamic adjustment of the
field of view mechanism in the
robot-assisted
surgical operation process are improved.