The force estimation method was proposed and implemented and experimental results showed the method worked and was feasible. This method could be used for force sensing in minimally invasive surgical robotics in the future.

The ZPAFKF can provide less error, preferred accuracy, better tremor estimation, and more desirable compensation performance, to suppress hand tremor and decrease vibration at the surgical instrument tip. Copyright © 2016 John Wiley & Sons, Ltd.

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The proposed FNNSMC can provide a robust performance and suppress the vibrations at the surgical instrument tip, which can enhance the quality and security of surgical procedures.

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Through the force analysis of the flexible needle puncture process, the corresponding mechanical model is established, and the main factors that cause the flexible needle bending deformation are analysed, and the bending model of the flexible needle puncture process is initially established. By discretizing the bending model, combined with experimental verification, a relatively complete bending model is obtained. Based on the RRT algorithm, the goal guidance algorithm, the optimal path selection algorithm, etc. are proposed, combined with the bending model of the flexible needle, and an improved RRT algorithm suitable for the flexible needle insertion method is established. Through simulation analysis and combined with experimental verification, it is concluded that path planning based on the improved RRT algorithm can bypass important human organs and soft tissues more flexibly, accurately puncture the target position, and achieve relatively safe surgery.

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