3 papers
cs.RO2026
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.…
cs.RO2025
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-…
cs.RO2025
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…