6 papers
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.…
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-…
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…
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…