A Multi-Scale Robotic System for Autonomous Surgical Intervention in Dynamic Environments

• A hierarchical control architecture enables seamless integration of perception, planning, and execution for autonomous surgical tasks. • Real-time adaptive trajectory planning significantly enhances precision and safety in dynamic surgical environments. • Robust force feedback mechanisms improve tissue interaction and reduce the risk of intraoperative complications. • Extensive experiments in simulated and in-vivo settings validate the system's superior performance over existing surgical robotic platforms.