The problem of inverse kinematics is fundamental in robot control. Many traditional inverse kinematics solutions, such as geometry, iteration, and algebraic methods, are inadequate in high-speed solutions and accurate positioning. In recent years, the problem of robot inverse kinematics based on neural networks has received extensive attention, but its precision control is convenient and needs to be improved. This paper studies a particle swarm optimization (PSO) back propagation (BP) neural network algorithm to solve the inverse kinematics problem of a UR3 robot based on six degrees of freedom, overcoming some disadvantages of BP neural networks. The BP neural network improves the convergence precision, convergence speed, and generalization ability. The results show that the position error is solved by the research method with respect to the UR3 robot inverse kinematics with the joint angle less than 0.1 degrees and the output end tool less than 0.1 mm, achieving the required positioning for medical puncture surgery, which demands precise positioning of the robot to less than 1 mm. Aiming at the precise application of the puncturing robot, the preliminary experiment has been conducted and the preliminary results have been obtained, which lays the foundation for the popularization of the robot in the medical field.

Medical robotics and computer-assisted surgery are hotspots in the field of robotics and medicine, changing the essence of traditional surgery using a combination of robotic, image processing, and computer technologies. The present paper aimed to study the auxiliary puncture procedure using a robot based on binocular vision optical positioning technology that can be used in minimally invasive surgery for coordinate precision of skin markers. ZED binocular cameras were selected for image acquisition and a model was established based on Zhang’s calibration. Moreover, a Hough circle detection algorithm was proposed for binocular stereo image feature extraction to obtain the marker points in three-dimensional space coordinates. Accurate marker coordinate information for a human 3D bone model was obtained, laying the foundation for further research regarding robot-assisted precise positioning technology for use in puncture surgery.

The research of Cyber-Physical System (CPS) has attracted attention of the worldwide, which is in the industry, academic, medicine, news media and other industries. However, there are still a lot of problems do not have uniform standards, such as the ultimate concept, system architecture, security research, security measures, etc. In this paper do a research on the above problems, and put forward the corresponding solutions.

How to achieve accurate positioning of assisted puncture robot inmedical puncture surgery is a key problem.