The Mission
Prosbot was designed to evaluate the performance and limits of medical robot arm control at ISIR (Institut des Systèmes Intelligents et de Robotique). Medical robotics demands extreme precision and reliability - this platform helps ensure those standards are met.
Design Requirements
The device needed to provide:
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Constrained planar motion - movement limited to a plane
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Free rotation - ability to rotate around any axis
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Adjustable constraints - tunable resistance for different tests
Technical Solution
Planar Motion System
Two orthogonal prismatic joints ensure movement stays in a plane:
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Range: ±10cm in each direction
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Precision: Sub-millimeter positioning
Rotation System
A spherical joint enables rotation around any axis:
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Range: ±30° in all directions
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No gimbal lock: Chosen over three revolute joints to avoid singularities
Adjustable Stiffness
Spring-loaded constraints with adjustable stiffness allow simulation of different conditions and testing of force control algorithms.
Medical Robotics Context
In medical robotics, especially surgical applications, the robot must:
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Move with extreme precision
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Apply controlled forces
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Respond safely to unexpected resistance
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Operate within strict safety bounds
Prosbot provides a controlled environment to verify these capabilities before deployment in actual medical systems.
Contribution to the Field
This work contributed to understanding how medical robots behave at their operational limits - crucial knowledge for ensuring patient safety.