Patent ID: 11963726
Assignee: BOE TECHNOLOGY GROUP CO., LTD.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 14:
15. A non-transitory computer readable storage medium, which stores computer program instructions, wherein when the computer program instructions are run on a surgical operation monitoring device, the surgical operation monitoring device is enabled to execute the operations comprising:
acquiring a position of a surgical site of the surgical object at a first moment;
under the condition that the position of the surgical site at the first moment exceeds a moving range of the actuating end of the mechanical arm, determining an allowable moving range of the surgical site at the first moment, which is a range within which the driver is capable of driving the support body to move so that the support body drives the surgical site to move at the first moment; and
under the condition that the allowable moving range of the surgical site at the first moment and the moving range of the actuating end of the mechanical arm have an overlapping range, controlling the driver to drive the support body to move so that the support body drives the surgical site to move into the overlapping range;
controlling the actuating end of the mechanical arm to perform operation according to a first surgical path, under the condition that the position of the surgical site at the first moment does not exceed the moving range of the actuating end of the mechanical arm and the surgical site does not deviate from the actuating end of the mechanical arm at the first moment; and
correcting the first surgical path according to a position corresponding to the position of the surgical site at the first moment to obtain a second surgical path, under the condition that the position of the surgical site at the first moment does not exceed the moving range of the actuating end of the mechanical arm and the surgical site deviates from the actuating end of the mechanical arm at the first moment, and controlling the actuating end of the mechanical arm to perform operation according to the second surgical path after the actuating end of the mechanical arm moves to the position corresponding to the position of the surgical site at the first moment.