Medical clamping method and system, medical robot and storage medium

The invention discloses a medical clamping method and system, a medical robot and a storage medium, and belongs to the field of medical instruments. The method comprises the steps of collecting a surface feature image of an object to be clamped, and performing image preprocessing; selecting a clamping mode according to the surface characteristics of the to-be-clamped object; acquiring obstacle information of an object to be clamped, and planning a clamping path; feeding the clamping force applied to the object to be clamped back, and optimizing the acting force applied during clamping. According to the invention, the to-be-clamped object can be automatically clamped so as to assist smooth completion of an operation, the automation degree is high, the controllability is high, the clamping efficiency and accuracy are improved, and the labor cost is reduced. 本发明公开一种医用夹取方法、系统、医疗机器人及存储介质，属于医疗器械领域。其中，该方法包括：采集待夹取物体的表面特征图像，并进行图像预处理；根据待夹取物体的表面特征，选择夹取方式；获取待夹取物体的障碍信息，并规划夹取路径；对待夹取物体受到的夹取力度进行力反馈，优化夹取时施加的作用力。本发明能够实现自动化夹取待夹