Method, device and equipment for reproduction of manipulation based on ultrasonic robot

The invention relates to a manipulation reproduction method, device and equipment based on an ultrasonic robot. The method comprises the following steps: acquiring execution information of the ultrasonic robot under the operation of a doctor; invalid state information in the execution information is screened out, and first path information is obtained; scanning the patient to be tested by using the first path information to obtain second path information; comparing the first path information with the second path information in the process to obtain a position difference; if the position difference is a vertical difference, adjusting the position in the vertical direction in the first path information through a force control algorithm; and if the position difference is a horizontal difference, adjusting the position in the horizontal direction in the first path information according to the contact force curve in the horizontal direction. According to the technical scheme provided by the embodiment of the inven