A Novel Multi-Scale Robotic System for Enhanced Surgical Precision and Autonomy in Minimally Invasive Procedures

• The multi-scale robotic system integrates macro and micro manipulators, enabling precise operations across different scales. • A hierarchical control architecture combining model-based and learning-based methods achieves adaptive motion planning and real-time obstacle avoidance. • Multi-modal sensing (visual, force, proximity) enhances situational awareness and surgical safety. • Experimental results show significant improvements in task completion time, accuracy, and consistency over conventional methods.