Surgical robot, and graphical control device and graphical display method thereof

A graphical display method of a surgical robot, wherein the surgical robot comprises:

• a display;
• and
• at least two manipulators, each comprising a plurality of joint assemblies, each joint assembly being provided with a sensor configured to sense a state of the joint assembly;
• the graphical display method comprises:
• detecting among the at least two manipulators a presence of a first manipulator which is in an operational mode;
• obtaining state information of the plurality of joint assemblies sensed by the sensors of the first manipulator in response to detecting the presence of the first manipulator;
• obtaining a kinematic model of the first manipulator;
• obtaining configuration parameters of a virtual camera;
• generating an image model of the first manipulator from a viewing point of the virtual camera by combining the configuration parameters of the virtual camera, the kinematic model of the first manipulator, and the state information of the first manipulator;
• and
• displaying the image model of the first manipulator in a first display window of the display.