Robust prediction of tool-tissue interaction force using ISSA-optimized BP neural networks in robotic surgery by Yong-Li Yan, Teng Ren, Li Ding, Tiansheng Sun, Shandeng Huang

“…Results The ISSA-BP clamping force prediction model outperforms the BP, ALO-BP, GA-BP, GWO-BP, WOA-BP and SSA-BP models for model evaluation indicators such as RMSE, MSE, MAE, SSE and R². …”
Get full text