I. Introduction
The research on robot-assisted surgery has been conducted for many years. Tracing back to decades ago, a modified PUMA robot was used to guide a needle in a patient for brain biopsy [1]. With the advancement of robot technology, more than 200,000 surgical procedures were performed yearly through a da Vinci Surgical System, offering new alternatives to traditional open surgery and conventional laparoscopy. While the da Vinci system provides an excellent platform for general surgeries, there remains a high demand for the exploration of more intelligent and robust robotic systems to suit the needs of different surgical procedures.