A bilateral adaptive control method based on PEB control structure is designed for a class of time-delay force feedback teleoperation system without external interference and internal friction to study the uncertainty of dynamic parameters and time delay. The stability and tracking performances of the closed-loop constant time delay teleoperation system are analyzed by Lyapunov stability theory. Finally, the controller designed in this paper is successfully applied to the teleoperation system composed of a two-degree of freedom rotating manipulator as the master robot and the slave robot. The simulation is carried out in no operator and environment force or with operator and environment force. The adaptive bilateral control method's control performance is compared with that of the traditional time-delay teleoperation system. Finally, it is verified that the method has good control performance.

When using a monocular camera for detection or observation, one only obtain two-dimensional information, which is far from adequate for surgical robot manipulation and workpiece detection. Therefore, at this scale, obtaining three-dimensional information of the observed object, especially the depth information estimation of the surface points of each object, has become a key issue. This paper proposes two methods to solve the problem of depth estimation of defiant images in microscopic scenes. These are the depth estimation method of the defocused image based on a Markov random field, and the method based on geometric constraints. According to the real aperture imaging principle, the geometric constraints on the relative defocus parameters of the point spread function are derived, which improves the traditional iterative method and improves the algorithm’s efficiency.

The key to image-guided surgery (IGS) technology is to find the transformation relationship between preoperative 3D images and intraoperative 2D images, namely, 2D/3D image registration. A feature-based 2D/3D medical image registration algorithm is investigated in this study. We use a two-dimensional weighted spatial histogram of gradient directions to extract statistical features, overcome the algorithm’s limitations, and expand the applicable scenarios under the premise of ensuring accuracy. The proposed algorithm was tested on CT and synthetic X-ray images, and compared with existing algorithms. The results show that the proposed algorithm can improve accuracy and efficiency, and reduce the initial value’s sensitivity.

In the principle of lens imaging, when we project a three-dimensional object onto a photosensitive element through a convex lens, the point intersecting the focal plane can show a clear image of the photosensitive element, and the object point far away from the focal plane presents a fuzzy image point. The imaging position is considered to be clear within the limited size of the front and back of the focal plane. Otherwise, the image is considered to be fuzzy. In microscopic scenes, an electron microscope is usually used as the shooting equipment, which can basically eliminate the factors of defocus between the lens and the object. Most of the blur is caused by the shallow depth of field of the microscope, which makes the image defocused. Based on this, this paper analyzes the causes of defocusing in a video microscope and finds out that the shallow depth of field is the main reason, so we choose the corresponding deblurring method: the multi-focus image fusion method. We proposed a new multi-focus image fusion method based on sparse representation (DWT-SR). The operation burden is reduced by decomposing multiple frequency bands, and multi-channel operation is carried out by GPU parallel operation. The running time of the algorithm is further reduced. The results indicate that the DWT-SR algorithm introduced in this paper is higher in contrast and has much more details. It also solves the problem that dictionary training sparse approximation takes a long time.