Acting force-displacement-vision hybrid control method for robot tracheal intubation

The invention belongs to the technical field of medical instruments, and particularly relates to an acting force-displacement-vision hybrid control method for robot tracheal intubation. The acting force-displacement-vision hybrid control method comprises the following steps that firstly, corresponding points in a standard path are obtained through visual image mapping by utilizing the standard path of intubation and an oral cavity mechanical model, theoretical and actual displacement and force information is respectively read according to a robot device, the standard path and the mechanical model, the safety of a region is judged by using a virtual clamp method, and the movement speed of a mechanical arm is regulated and controlled through parallel PID regulation and control according to the safe partition. Force, displacement and visual information in tracheal intubation are used in a combined mode, safe and efficient insertion of a laryngoscope and a catheter is achieved through a virtual clamp, parallel PI