1 citations · 2 across the 11 of their papers we have counts for
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Towards AI-enhanced control: a numerical technique for trajectory smoothing of a parallel robot for pancreatic surgery
Iosif Birlescu, Alexandru Pusca, Bogdan Gherman +4
The paper presents a numerical approach for the end-effector trajectory smoothing of a parallel robot designed for minimally invasive pancreatic surgery. The approach is tailored f…
Control Architecture and experimental validation of a Novel Surgical Robotic Instrument
Doina Pisla, Ionut Zima, Calin Vaida +7
Minimally invasive surgery (MIS) reduces patient trauma and shortens recovery time; however, conventional laparoscopic instruments remain constrained by limited range of movements.…
Optimizing Robot Positioning Against Placement Inaccuracies: A Study on the Fanuc CRX10iA/L
Nicolas Gautier, Yves Guillermit, Mathieu Porez +2
This study presents a methodology for determining the optimal base placement of a Fanuc CRX10iA/L collaborative robot for a desired trajectory corresponding to an industrial task.…
Design Analysis of an Innovative Parallel Robot for Minimally Invasive Pancreatic Surgery
Doina Pisla, Alexandru Pusca, Andrei Caprariu +4
This paper focuses on the design of a parallel robot designed for robotic assisted minimally invasive pancreatic surgery. Two alternative architectures, called ATHENA-1 and ATHENA-…
Design of an innovative robotic surgical instrument for circular stapling
Paul Tucan, Nadim Al Hajjar, Calin Vaida +7
Esophageal cancer remains a highly aggressive malignancy with low survival rates, requiring advanced surgical interventions like esophagectomy. Traditional manual techniques, inclu…
An analysis of higher-order kinematics formalisms for an innovative surgical parallel robot
Calin Vaida, Iosif Birlescu, Bogdan Gherman +3
The paper presents a novel modular hybrid parallel robot for pancreatic surgery and its higher-order kinematics derived based on various formalisms. The classical vector, homogeneo…
An innovative mixed reality approach for Robotics Surgery
Gabriela Rus, Nadim Al Hajjar, Ionut Zima +5
Robotic-assisted procedures offer numerous advantages over traditional approaches, including improved dexterity, reduced fatigue, minimized trauma, and superior outcomes. However,…
Enhancing Otological Surgery: Co-Designing a Parallel Robot with Surgeon Input
Durgesh Haribhau Salunkhe, Guillaume Michel, Shivesh Kumar +1
This work presents the development of a parallel manipulator used for otological surgery from the perspective of co-design. Co-design refers to the simultaneous involvement of the…
Continuous-Time Robust Control for Cancer Treatment Robots
Vlad Mihaly, Iosif Birlescu, Mircea Şuşcă +2
The control system in surgical robots must ensure patient safety and real time control. As such, all the uncertainties which could appear should be considered into an extended mode…
The control architecture of a spherical robot for Minimally Invasive Surgery
Gabriela Rus, Nadim Al Hajjar, Paul Tucan +6
Control systems used in Minimally Invasive Surgery (MIS) play a crucial role in ensuring preci-sion and safety throughout procedures. This paper presents a control architecture dev…
Comparison of robot morphologies and base positioning for welding applications
Nicolas Gautier, Yves Guillermit, Yazid Sebsadji +2
This article undertakes a comprehensive examination of two distinct robot morphologies: the PUMA-type arm (Programmable Universal Machine for Assembly) and the UR-type robot (Unive…
Kinematic analysis of a parallel robot for minimally invasive surgery
Calin Vaida, Bogdan Gherman, Iosif Birlescu +5
The paper presents the kinematic modelling for the coupled motion of a 6-DOF surgical parallel robot PARA-SILSROB which guides a mobile platform carrying the surgical instruments,…
Accuracy and repeatability of a parallel robot for personalised minimally invasive surgery
Doina Pisla, Paul Tucan, Damien Chablat +7
The paper presents the methodology used for accuracy and repeatability measurements of the experimental model of a parallel robot developed for surgical applications. The experimen…
Improving Welding Robotization via Operator Skill Identification, Modeling, and Human-Machine Collaboration: Experimental Protocol Implementation
Antoine Lénat, Olivier Cheminat, Damien Chablat +1
The industry of the future, also known as Industry 5.0, aims to modernize production tools, digitize workshops, and cultivate the invaluable human capital within the company. Indus…
Mixed-Reality-Guided Teleoperation of a Collaborative Robot for Surgical Procedures
Gabriela Rus, Nadim Al Hajjar, Paul Tucan +5
The development of advanced surgical systems embedding the Master-Slave control strategy introduced the possibility of remote interaction between the surgeon and the patient, also…