The invention belongs to the technical field of laparoscope operation, and discloses an autonomous laparoscope operation
robot operation method based on image experience. Comprising the steps that an instrument is marked, multi-point calibration is conducted on a laparoscope camera, and under the RCM constraint condition, three-dimensional coordinates of instrument marks are estimated according to images collected by a laparoscope; acquiring an instrument frequency diagram in the operation scene, and obtaining an
evaluation function of an instrument relative to an instrument position under a laparoscope view; constructing an attitude of a laparoscope camera coordinate
system in a visual coordinate
system, and constructing an intuition constraint model which needs to be satisfied by the laparoscope attitude; by taking the
evaluation function as a target, constructing a laparoscope
pose optimization model according to an RCM constraint model and an intuitive constraint model, so as to obtain an optimal laparoscope
pose; and taking the optimal laparoscope
pose as an expected laparoscope pose, and converting the expected laparoscope pose into a
robot tail end pose. The mirror moving strategy is more in line with the intention of a surgeon, the method is simple, and the generalization ability is high.