Design of a Novel Haptic Joystick for the Teleoperation of Continuum-Mechanism-Based Medical Robots

Continuum robots are increasingly used in medical applications and the master–slave-based architectures still most important mode of operation human–machine interaction. However, existing master control devices not fully suitable for either mechanical mechanism or method. This study proposes a brand-new, four-degree-of-freedom haptic joystick whose main stick could rotate around fixed point. The rotational inertia is reduced by mounting all powertrain components on base plane. Based design, kinematic static models proposed position perception force output analysis, while at same time gravity compensation also performed to calibrate system. Using continuum-mechanism-based trans-esophageal ultrasound robot as test platform, master–slave teleoperation scheme with position–velocity mapping variable impedance integrate speed regulation side slave side. experimental results show that accuracy design within 1.6°. workspace sticks −60° 110° pitch angle, −40° 40° yaw −180° 180° roll −90° 90° translation angle. standard deviation 8% full range, mean absolute error 1.36°/s 0.055 N feedback. this evidence, it believed good addition work field well-developed effective features enable continuum applications.