4 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…
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…
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…
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,…