Laparoscope-supporting minimally invasive robot touch force interaction method and system for surgical field tracking

The invention provides a laparoscope-supporting minimally invasive robot touch force interaction method and system for surgical field tracking, a storage medium and electronic equipment, and relates to the technical field of laparoscopes. The method comprises the steps of according to a hand posture change signal, acquiring the corresponding posture of an end effector of an instrument-holding robot; acquiring a two-dimensional position of the central point of the tip of a surgical instrument in an image coordinate system according to a surgical field image at the current moment, acquired by the laparoscope; according to the surgical field image, constructing a circular prohibited area type virtual clamp, and when the distance between the two-dimensional position and the central point position of the surgical field image is larger than the radius of the circular prohibited area type virtual clamp, generating resistance pointing to the central point of the surgical field image and applying the resistance to a m