I think in “2001 A Space Odyssey”, they had something like a huge spinning wheel. Centrifical (centrifugal?) force generated by the wheel spinning creates a light gravity to keep human muscle healthy. There might be something electrical similar to the “grounding” that happens when human feet touch the ground, that could be simulated onboard this spinning wheel. Nuclear powered? The trip from orbit around Earth to orbit around Mars can then take as long as needed. Shuttles or next improvement can get people from earth to ship, and ship to Mars. The spinning wheel craft never has to touch down, on earth or mars. It could stay in orbit for centuries.
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