Surgical robot, method for guiding surgical arm to move thereof, and computer readable storage medium thereof

A computer readable storage medium, comprising:

• a storage medium, storing a computer program configured to be loaded and executed by a processor to implement following steps:
• acquiring an original position of the operation end effector;
• acquiring an operation mode inputted;
• determining a target position where the operation end effector is expected to reach according to the operation mode acquired;
• generating a guiding path extended from the original position to the target position according to a vision field of an image end effector;
• and
• adjusting the operation end effector to move along the guiding path from the original position to the target position;
• wherein generating the guiding path extended from the original position to the target position according to the vision field of the image end effector comprises:
• acquiring a guiding mode inputted, the guiding mode comprises a first guiding mode and a second guiding mode, the first guiding mode comprises a mode of automatically adjusting the vision field of the image end effector, the second guiding mode comprises a mode of manually adjusting the vision field of the image end effector;
• and
• adjusting the vision field of the image end effector according to the guiding mode acquired to generate the guiding path extended from the original position to the target position.

A surgical robot, comprising:

• operating arms, comprising a camera arm having an image end effector and a surgical arm having an operation end effector;
• and
• a controller, the controller is coupled to the operating arms, and is configured to implement following steps:
• acquiring an original position of the operation end effector;
• acquiring an operation mode inputted;
• determining a target position where the operation end effector is expected to reach according to the operation mode acquired;
• generating a guiding path extended from the original position to the target position according to a vision field of the image end effector;
• and
• adjusting the operation end effector to move along the guiding path from the original position to the target position;
• wherein generating the guiding path extended from the original position to the target position according to the vision field of the image end effector comprises:
• acquiring a guiding mode inputted, the guiding mode comprises a first guiding mode and a second guiding mode, the first guiding mode comprises a mode of automatically adjusting the vision field of the image end effector, the second guiding mode comprises a mode of manually adjusting the vision field of the image end effector;
• and
• adjusting the vision field of the image end effector according to the guiding mode acquired to generate the guiding path extended from the original position to the target position.