Controller design and implementation for a remote centre of motion (RCM) robotic manipulator for eye surgery

Abstract

Remote centre of motion (RCM) robots are used in the medical field to assist surgeons in performing delicate surgeries such as eye surgery. The RCM mechanism is useful in carrying out microsurgeries where complex surgical manoeuvres is performed through small incisions. For eye surgeries, RCM robots can be used to treat eye conditions such as cataracts and glaucoma. In this project, motion control system for a mechanical RCM robot was designed and investigated to determine the optimum design for accurate motion control and suitable user controls. Aspects of control system discussed in this report include the control operation modes, electronics for user control, and software parameters. Based on the results of the project, auto-tuning of the controller using the corresponding controller software gives a stable and suitable control response. Using digital user input controls in position control mode, a suitable control system was designed with user-friendly controls and accurate output motion and position of the end-effector in the mechanism.