RESEARCH ON ONLINE PREDICTION OF SOFT TISSUE MECHANICAL RESPONSE BASED ON GREY MODEL

Abstract

Soft tissue is an important operation object in robot-assisted surgery and its mechanical response is of great significance to the precision of surgical operation. Accurate prediction of soft tissue mechanical properties can effectively avoid the potential damage of biological tissue caused by excessive operating force. In this paper, three typical mechanical responses of soft tissue were obtained by no-slip compression experiments of liver tissue. Second, the prediction model of soft tissue mechanical response based on gray prediction was established, and the influence of key parameters of the model on the precision of mechanical response prediction was analyzed. The results show that the gray prediction model can accurately predict the mechanical response of soft tissue, and the prediction accuracy is the highest when the number of historical data is 7. The prediction method of soft tissue mechanical response proposed in this paper will provide important data reference for accurate operation of surgery.