Design and Realization of an Isomorphic Master-Slave Robotic System for Precise Sub-Micrometer Manipulations in Ophthalmic Surgery

Abstract

Intra-ocular surgery requires precise submicrometer manipulations within the confined ocular space. Implementing a master-slave robotic system is a potential solution. The development of master manipulators impacts the overall performance of the robotic system. A master–slave isomorphic mapping method is used to design a master manipulator prototype. Kinematic and dynamic models of the master manipulator are established, and dynamic parameters and friction forces at each joint identified. Gravity compensation is applied to the master manipulator based on motor torque, and its efficacy is validated through experiments. The isomorphic master manipulator adapts to the required degrees-of-freedom (DOF) for intra-ocular surgery. The gravity compensates algorithm, based on torque, enables stable hovering of the master manipulator within the workspace and reduces the operating force by 71.4%. The proposed master manipulator can feasibly be applied in master–slave surgical robot systems.