Master-Slave Control Strategy Applied in Microsurgical Robot

Abstract

With the rapid spread of microsurgery, more attention has been paid to the development of medical tools, especially microsurgical robotics, which contributes to improving the performance of surgery and reducing the risk caused by artificial operation. Among the components applied in a robotic system, the master-slave control system has been attached with great significance. In this study, a master-slave control method has been developed for the special designed microsurgical robotic system. In order to free surgeons from the physical limitations of their own hands and simplify the difficulty of operation, a forceps-like manipulator is employed as the master device. A wrist articulation-based end-effector with seven degrees of freedom is used to follow the motion of the master device. It has been initially proved that the robot is able to achieve the goal of master-slave control.