Control method of operation arm and surgical robot system

The invention relates to the technical field of control, and discloses a control method of an operation arm, computer equipment, a computer readable storage medium and a surgical robot system. The control method of the operation arm comprises the following steps: acquiring a positioning image; in the positioning image, multiple pose marks located on the operation arm are recognized, and the multiple pose marks comprise different pose mark patterns; determining a current relative pose of the operation arm relative to the reference coordinate system based on the plurality of pose identifiers; and based on the current relative pose and the target pose of the operation arm, a driving signal of the operation arm is determined. 本公开涉及控制技术领域，公开一种操作臂的控制方法、计算机设备、计算机可读存储介质和手术机器人系统。操作臂的控制方法，包括：获取定位图像；在定位图像中，识别位于操作臂上的多个位姿标识，多个位姿标识包括不同的位姿标识图案；基于多个位姿标识，确定操作臂相对参考坐标系的当前相对位姿；以及基于当前相对位姿和操作臂的目标位姿，确定操作臂的驱动信号。