Method for controlling manipulator arm and surgical robot system

The invention relates to the technical field of control, and discloses a method for controlling an operation arm, computer equipment, a computer readable storage medium and a surgical robot system. The method for controlling the operation arm comprises the following steps: acquiring a positioning image; in the positioning image, multiple identifications located on the operation arm are recognized, and the multiple identifications comprise multiple pose identifications used for identifying poses and at least one composite identification used for identifying the poses and the angles; based on the at least one composite identifier and the plurality of pose identifiers, determining a current relative pose of the operation arm relative to the reference coordinate system; 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，公开一种用于控制操作臂的方法、计算机设备、计算机可读存储介质和手术机器人系统。用于控制操作臂的方法，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标识，多个标识包括多个用于标识位姿的位姿标识和