Intraoperative soft tissue manipulation is a critical challenge in autonomous robotic surgery. Furthermore, the intricate in vivo environment surrounding the target soft tissues poses additional hindrances to autonomous robotic decision-making. Previous studies assumed the grasping point was known and the target deformation could be achieved. The constraints were assumed to be constant during the operation, and there were no obstacles around the soft tissue. To address these problems, an intuition-guided deep rein…