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Cs2LiLaBr6: Ce (CLLB) scintillator with the size of Φ 21mm × 25 mm coupled with PMT was used to detect neutron and gamma rays. The pulse shape discrimination (PSD) of neutrons and gamma rays by charge comparison method, the neutrons and gamma rays from AmBe source and fast neutron beam can be separated with figure-of-merit (FOM) values of 0.9 and 1.3, respectively. However, some neutron and gamma rays are difficult to distinguish, so new algorithms need to be investigated to improve the PSD performance of neutron and gamma. Artificial neural networks (ANN) have a very good image recognition capability, thus the ANN model was constructed to discriminate the waveforms of neutron and gamma rays. After ANN model training, the neutron and gamma signals of the CLLB detector were recognized with an accuracy of 98%, and the FOM value of the ANN method was calculated to be 19.4. This result is much higher than the charge comparison method, indicating better discrimination between neutrons and gamma rays with the ANN method.

A flexible endoscopic robot is designed to solve the problem that it is difficult for auxiliary doctors to maintain a stable visual field in traditional endoscopic surgery. Based on geometric derivation, a motion control method under the constraint of the remote center motion (RCM) of the robot system is established, and a set of circular trajectories are planned for it. The RCM error of the robot during operation and the actual trajectory of the robot end in three-dimensional space are obtained through the motion capture system. The end of the robot is controlled by the heterogeneous primary–secondary teleoperation control algorithm based on position increments. Finally, the RTMDet deep learning object detection algorithm was selected to identify and locate surgical instruments through comparative experiments, and the autonomous tracking control was completed based on visual guidance. In the process of autonomous tracking, the RCM error was less than 1 mm, which met the actual surgical requirements. [ABSTRACT FROM AUTHOR]