Yanchun Xie ^1* Xue Zhao ^2* Yang Jiang ^3* Yao Wu ³ Hailong Yu ^1*

• ¹ Department of Orthopaedics, General Hospital of Northern Theater Command, Shenyang, Liaoning Province, China
• ² Daniel L. Goodwin College of Business, Benedictine University, Chicago, United States
• ³ Northeastern University, Shenyang, China

This paper introduces the flexible control and trajectory planning medical two-arm surgical robots, and employs effective collision detection methods to ensure the safety and precision during tasks. Firstly, the DH method is employed to establish relative rotation matrices between coordinate systems, determining the relative relationships of each joint link. A neural network based on a multilayer perceptron is proposed to solve FKP problem in real time. Secondly, a universal interpolator based on Non-Uniform Rational B-Splines (NURBS) is developed, capable of handling any geometric shape to ensure smooth and flexible motion trajectories. Finally, we developed a generalized momentum observer to detect external collisions, eliminating the need for external sensors and thereby reducing mechanical complexity and cost. The experiments verify the effectiveness of the kinematics solution and trajectory planning, demonstrating that the improved momentum torque observer can significantly reduce system overshoot, enabling the two-arm surgical robot to perform precise and safe surgical tasks under algorithmic guidance.