Collision detection method for interventional surgical robot, robot and medium

The invention discloses a collision detection method for an interventional operation robot, the robot and a medium, and the collision detection method comprises the steps: building a three-dimensional collision detection model of a digital model comprising the robot and a target body, and determining a detection point sequence on a pre-planned robot motion track, the next detection point in the sequence is far away from the starting point of the motion trail compared with the previous detection point, determining whether the robot moves to each detection point position in the detection point sequence according to the motion trail to collide or not by utilizing a three-dimensional collision detection model and a bounding box collision detection method, and if the collision occurs, replacing the detection points on the basis of a preset detection point replacement method. Replacing the current detection point with a new detection point, and correspondingly updating the detection point sequence; and aiming at th