Abstract
Intraocular surgery requires precise sub-micrometer manipulations within the confined ocular space. Implementing a master-slave robotic system is a potential solution. The development of master manipulators significantly 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 intraocular surgery. The gravity compensates algorithm, based on torque, enables stable hovering of the master manipulator within the workspace and reduces the operating force. The proposed master manipulator can feasibly be applied in master–slave surgical robot systems.
