Soft tissue puncture force modeling method based on segmented artificial neural networks

The invention relates to a soft tissue puncture force modeling method based on segmented artificial neural networks, including the following steps: 1) selecting a soft tissue sample to be modeled forpuncture experiment to collect sample data; 2) analyzing and sorting the sample data, dividing all the data into before puncture, after puncture, and to the deepest point according to the puncture stage, and pulling out three groups, and dividing each group of data into a training group and a test group; 3) using the training group for neural network training, and then using the test group to evaluate the neural networks; and 4) calling the three neural networks obtained by training in a segmented way according to the puncture stage to complete modeling. The soft tissue puncture force modelingmethod based on segmented artificial neural networks has the advantages that being small in the prediction error of modeling, and being within the range of being difficult to be detected by human hands; being easy for modelin