An Intuitive Mechanism for Position Control of the Medical Robotic Systems

Abstract

Abstract The control and manipulation of medical robotic systems present significant challenges. They often require a steep learning curve due to the need for more intuitive control mechanisms, particularly in existing joystick designs. This paper introduces a novel approach to address these challenges by developing a master/slave system utilizing a twin Stewart mechanism configured as a specialized joystick with six degrees of freedom (DOF). This design enhances the intuitiveness of robot motion, enabling surgeons to control the robot’s end-effector with one hand. The design objectives for the joystick emphasize six DOF, complete one-handed control, and intuitive usability within a compact workspace. A Stewart mechanism is chosen for its inherent six DOF and suitability as the master system for a soft robot. Advanced 3D printing techniques will manufacture the mechanism, with linear potentiometers mounted on each leg to sense displacement. These displacements are translated into equivalent motions in the soft robot through non-linear mapping techniques and refined through manual calibration. The robot’s position will be monitored using an electromagnetic tracker and mapped to its bending deformation, providing feedback to the controller. This paper presents an approach to controlling a soft robotic system and enhancing usability in surgical applications.