Method for measuring delay of master and slave arms of master-slave surgical robot

The invention discloses a method for measuring delay of master and slave arms of a master-slave surgical robot, and belongs to the field of medical instruments. The measuring method is suitable for a delay measuring system with a motion generating device, a measuring device and an interaction device. During measurement, a physical method is used, namely, a control motion generation device of the interaction device is operated to horizontally move the main arm of the measured instrument, and meanwhile, a measuring device is used for respectively measuring the distances from the main arm and the slave arm of the measured instrument to the laser distance measuring sensor; and then deriving a calculation formula for calculating the starting delay and the following delay by using the obtained distance, thereby realizing indexing of the starting delay and the following delay. In the calculation process of the starting delay and the following delay, a set displacement target value and an error value are added in the