5 papers · 1 filter
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…
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…
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…