Adrian Pisla

Kinematical Analysis and Design of a New Surgical Parallel Robot

Robots in surgery are used because of their superior advantages: improved accuracy, tremor elimination etc, which exceeds human capabilities. Unlike serial robots, parallel robots offer higher stiffness, reduced masses in motion, higher rigidity, all of these leading more precise manipulations that fit medical applications. In this paper, a new innovative parallel structure for laparoscopy is presented. It is studied the forward and inverse kinematics, the singularities, it is generated the workspace and are presented some simulation results.

Kinematics and Design of a 5-DOF Parallel Robot Used in Minimally Invasive Surgery

Robotic assisted surgery is a continuously developing field, as robots have proved their utility in the operating rooms. Some of their advantages could be summed as follows: increased precision, the possibility of reaching positions and places that could prove difficulty in reaching using classical instruments, the replacement of medical personnel in the operating room, allowing for more space and cost saving etc. Until now, the vast majority of robots used in surgery, had serial structures. A new parallel hybrid architecture is proposed in this paper, the kinematics of this new structure is determined, the singularities are discussed and the design of the robot is presented.

Application Oriented Design and Simulation of an Innovative Parallel Robot for Brachytherapy

The paper presents the design and simulation of a new 5-DOF parallel robot named PARA-BRACHYROB used for brachytherapy. Brachytherapy (BT) is an advanced cancer treatment technique, where radioactive seeds are delivered directly in the tumor without damaging the proximal healthy tissues. Due to the tremendous therapeutic potential of brachytherapy, many researches are encouraged to provide solutions for enhanced placement of BT devices inside the patient body, thus further developing brachytherapy robotic systems. Therefore the paper presents an innovative CT-Scan compatible robotic device for this application. The PARA-BRACHYROB system consists of a parallel robot with five degrees of freedom (DOF) for needle positioning and orientation up to the insertion point in the patient body and a 1-DOF mechanism for the needle insertion. The kinematic models of PARA-BRACHYROB are presented and validated through a multi-body simulation including a short description of the numerical and simulation results for the developed model.Copyright

Considerations upon the Influence of Manufacturing and Assembly Errors on the Kinematic and Dynamic Behavior in a Flight Simulator Stewart-Gough Platform

The paper presents a new approach concerning the accuracy of a dynamic flight simulator behavior by considering the influence of the manufacturing and assembling errors on the kinematics and dynamics of a Stewart-Gough platform. The obtained models offer the possibility of a complex study of the parallel structure in order to evaluate the kinematic and dynamic behaviors and to generate the control algorithms for an appropriate digital immersion. Using a numerical simulation the diagrams due to the manufacturing errors are computed and represented.

An experimental characterization of earthquake effects on mechanism operation

In this paper we have reported an experimental study for the effect of earthquake motion on the operation of a mechanism. A prototype of CaPaMan (Cassino Parallel Manipulator) has been used as suitable earthquake simulator in order to reproduce 3D seismic motions with easy-operation robust features. Experimental tests have carried out by using a four-bar linkage as test-bed mechanism and results are reported to show characteristic seismic effects on mechanism operations.

Kinematic Analysis of an Exoskeleton-Based Robot for Elbow and Wrist Rehabilitation

The paper presents the kinematics of an exoskeleton-based robotic system for upper limb rehabilitation of post-stroke patients. The targeted arm areas are the elbow and the wrist, while the targeted motions are flexion/extension, pronation/supination and adduction/abduction. The paper presents the (direct and inverse) kinematic analysis of the proposed solution, the generated workspace of the robot and simulations for a proposed exercise for post-stroke upper limb rehabilitation.

A simulation control interface for robotic structures used as flight simulators

In the paper a distributed control interface with modular, flexible and configurable structure is presented to allow the implementation of program packages used for command and control of a robotic structures, particularly used as helicopter flight simulator. The development of major parts is organized on hierarchic levels: subsystem for local command and control, subsystem for centralized command. The future ancillary informatics parts are also developed for some control algorithms, necessary for informatics system configuration and particularization. Simulation software control for a platform based on Gough-Stewart parallel structure is presented.

Workspace Generation for a 2 - DOF Parallel Mechanism Using Neural Networks

The main purpose of the paper is to develop a neural network application destined to the workspace generation of a parallel mechanism, as an performant alternative to the workspace representation based on inverse kinematic model. The paper describes both algorithms. The initial testing was made for a parallel mechanism with two degrees of freedom that could be applied for the orientation of different systems like a TV satellite dish antennas, sun trackers, telescopes, cameras, radars etc.

RAISE - An Innovative Parallel Robotic System for Lower Limb Rehabilitation

Robotic rehabilitation is a developing field of research which could become a necessity in the next decades due to the natural shifting of the population age. The aim of the paper is to present an innovative robotic device for the rehabilitation of the lower limb of patients in the acute post stroke phase. The parallel robot has a modular construction enabling the mobility of each major joint: hip, knee and ankle. Furthermore, the robotic system kinematics is presented and the singularities are derived, to validate the proposed system for its intended medical task, considering the upper limb motion requirements for the rehabilitation exercises.

On the Singularities of a Parallel Robotic System Used for Elbow and Wrist Rehabilitation

The paper presents the singularity analysis of a modular parallel robotic system designed for elbow and wrist post-stroke rehabilitation using the mathematical modeling based on the Study parameters of SE(3). The kinematics of the robotic system is achieved; the singularity conditions are identified and correlated with the human upper limb motion capabilities to develop a robust control system for a fail-safe rehabilitation robot.