Title: Research on autonomous operation method for minimally invasive surgical robot

Authors: Longwang Yue

Addresses: School of Mechanical and Electrical Engineering, Henan University of Technology, Henan, 450001, China

Abstract: Autonomous minimally invasive surgical (MIS) robot is an important research content of surgical robot. In order to improve the intelligent operation level of the MIS robot, the authors made the research on autonomous operation method for the MIS robot. The autonomous operation method includes the following four steps: recording the manual surgical operation, extracting the surgical information, constructing the autonomous operation strategy performing autonomous surgical operation. With the designed symmetrical cable-driven MIS robot, which can record and extract the manual surgical skills, an autonomous control strategy was constructed for the MIS robot based on the back-propagation (BP) neural network. The feasibility of the control method was verified with the symmetrical cable-driven MIS robot platform. The research of this paper can not only improve the intelligent level of MIS by realising autonomous operation of complex operations, such as suturing, knotting and so on, but also improve the safety of MIS, the quality and efficiency of surgery, and reduce the burden on doctors and patients.

Keywords: minimally invasive surgical; MIS; autonomous operation; control strategy; motion trajectory.

DOI: 10.1504/IJAAC.2024.140533

International Journal of Automation and Control, 2024 Vol.18 No.5, pp.574 - 587

Received: 19 May 2022
Accepted: 25 Feb 2023
Published online: 22 Aug 2024 *

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