Surgical robot, control method, system and readable storage medium

The invention provides a surgical robot, a control method, a system and a readable storage medium. The surgical robot comprises a control terminal. The control method of the surgical robot comprises the following steps: setting a safe area and a warning boundary located outside the safe area according to edge information of a surgical object; and compensating driving information applied to the control terminal by the surgical robot on the basis of a distance function between the current pose of the control terminal and the warning boundary and in combination with first feedback information fedback by the control terminal and second feedback information generated on the basis of an external environment force Therefore, after the control terminal exceeds the range of the safe area, the driving influence of the external environment force on the control terminal is reduced, eliminated or limited. 本发明提供一种手术机器人、控制方法、系统及可读存储介质，所述手术机器人包括一操纵末端，手术机器人的控制方法包括：依据手术对象的边缘信息设定安全区及位于所述安全区之外的警戒边界；基于操纵末端的当前位姿与警戒边界的距离函数，结合所述操纵末端