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Master-slave surgical robots often employ a motion scaling function, and the surgeon's hand motion is scaled down with a motion scaling ratio and replicated by slave robot(s); however, the operation time can be prolonged if the task requires a smaller motion scaling ratio with a higher accuracy. In this paper, we propose the dynamic control of the motion scaling ratio according to the velocity of the master manipulator(s). Four control modes for controlling the motion scaling ratio were implemented in a master-slave microsurgical robotic system for neurosurgery, and the performance was evaluated by six subjects and compared. The results demonstrated that dynamic motion scaling has the potential for more efficient and comfortable manipulation.
