Design and Analysis of the Force Feedback Master Mechanism for Teleoperated Orthopedic Surgical Robot

Addressing issues such as insufficient force feedback, high precision requirements for master-slave interaction, and difficulties in reproducing large feedback forces during the teleoperation of orthopedic surgical robots, research on the design, modeling, and control of the force feedback master-end mechanism is conducted. Firstly, based on the unidirectional large feedback force requirement in orthopedic surgical teleoperation, a single-degree-of-freedom linear force feedback master hand is designed, achieving a maximum feedback force output of 40 N. Secondly, a multi-degree-of-freedom force feedback master hand configuration with decoupled translational and rotational motions is proposed, enabling coordinated input for position, orientation, and grasping operations. Finally, kinematic, dynamic, and feedback force mapping models for the multi-degree-of-freedom master hand are established, and a force feedback control method based on dynamic compensation and joint torque control is designed. The accuracy and control feasibility of the model are verified through simulation analysis. Experimental results show that the designed master hand can meet the requirements of teleoperation orthopedic surgery for large feedback forces, high precision, low coupling, and good operability. It can provide a mechanical foundation and theoretical basis for master-slave force-position mapping, force feedback control, and system integration of teleoperation orthopedic surgical robots.