Doina Pisla

Kinematic Modeling and Workspace Generation for a New Parallel Robot Used in Minimally Invasive Surgery

Parallel robots offer higher stiffness and smaller mobile mass than serial ones, thus allowing faster and more precise manipulations that fit medical applications, especially surgery. This paper presents the kinematic modeling and a method for workspace generation for a new parallel robot used for minimally invasive surgery. Using the developed model of the parallel robot and the kinematic modeling, some numerical and simulation tests are presented.

Kinematic modelling of a 5-dof hybrid parallel robot for laparoscopic surgery*

Robotic-assisted surgery is a continuously developing field because robots have demonstrated clear benefits in operating rooms. Until now, vast majority of robots used in surgery had serial structures. This paper presents the kinematic modelling of a 5-degree of freedom hybrid parallel architecture in two slightly different variants. The kinematics of this structure is determined, and following the analysis of singularities, the best variant is chosen. The robot workspace is computed and finally the experimental model and some simulation results are presented.

New Trends in Mechanism Science

This paper investigates the existence conditions of cusp po ints in the design parameter space of the RP R-2PRR parallel manipulators. Cusp points make possible non-sin gular assemblymode changing motion, which can possibly increase the size o f the aspect, i.e. the maximum singularity free workspace. The method used is based on the noti on f discriminant varieties and Cylindrical Algebraic Decomposition, and resorts to Gröb ner bases for the solutions of systems of equations.

Singularities and workspace analysis for a parallel robot for minimally invasive surgery

The paper presents the singularity and workspace analysis of PARAMIS — the first parallel robot, for camera guidance in minimally invasive surgical procedures developed in Romania. The graphical workspace is achieved through a series of geometric constructions in modeling software. The analytical workspace is achieved through a simple method based on the geometric model of the robot. The paper will demonstrate that the use of a simple structure with the minimum number of degrees of freedom required by the application provides the necessary workspace without singularity points. Results and conclusions from the first experimental procedures are presented.

Structural Analysis and Synthesis of Parallel Robots for Brachytherapy

Cancer represents one of the main causes of death nowadays, due to a complex set of uncontrollable natural and artificial factors. Huge efforts have been made by the entire scientific community to provide better cancer treatment solutions, all aiming to improve survival and life expectancy. An innovative option in the fight against cancer is brachytherapy (BT), called also internal radiation. BT enables to deliver higher doses of radiation to more-specific areas of the body, compared with the conventional form of radiation therapy that projects radiation from a machine outside the body. The paper presents the structural synthesis of suitable innovative parallel robots used in brachytherapy.

Development of a Control System for a Parallel Robot Used in Minimally Invasive Surgery

For the use of robotic systems in applications like minimally invasive surgical procedures, adequate control is necessary. Because of the direct interaction with the patient, safety is a critical aspect in robot control. This paper presents a simple and robust, open-architecture control system for an innovative parallel robot designed for the positioning of the laparoscopic instrument in minimally invasive surgery. The use of intelligent actuators, modular programming and CANOpen data transmission protocol, enabled the development of a simple, compact and fast control system that can be extended for the command of multiple robotic arms. The developed user interface with the specific commands used during the surgical procedures and the experimental model of the parallel robot are presented.

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.

Kinematic Analysis of an Innovative Medical Parallel Robot Using Study Parameters

The paper investigates the kinematic analysis of an innovative 5-DOF parallel medical robot used for brachytherapy. Robotic assisted brachytherapy involves the targeted treatment of cancerous cells delivering high dosages of radiation inside the tumor, using as guiding tool a highly accurate robotic arm. The kinematic modeling of this mechanism is addressed using algebraic constraint varieties and the Study parametrization of the Euclidean displacement group. Algebraic methods in connection with classical multi-dimensional geometry have proven to be very efficient in the computation of direct and inverse kinematics of mechanisms as well as the explanation of strange, pathological behavior. The obtained results are simulated and compared with the results obtained by the evaluation of the determinants of the A and B Jacobi matrices. This complete kinematic analysis of the robot will largely increase its safety during the medical procedure.

Cassino Hexapod : Experiences and new leg design

Many different designs for the walking machines exist, some of them are based on wheels and another type of walking machines have anthropomorphic legs. A third kind of walking machine, which has both wheels and legs, is called as a hybrid. The hybrid robots are efficient for all kinds of environments. A low cost hexapod robot prototype with legs and wheels has been developed at LARM in Cassino and named as Cassino Hexapod. In this paper we are described experimental tests on one leg of the Cassino Hexapod and also the obtained results are presented as referring to design a new leg for hexapod robot, numerical results and laboratory tests.

Development of a Voice Controlled Surgical Robot

In the paper the first developed voice-controlled parallel robot PARAMIS (PARAllel robot for Minimally Invasive Surgery) in Romania, used for laparoscope camera positioning in the minimally invasive surgery, is presented. The development of the structure focused on the achievement of a simple, lightweight, cheap solution, able to work alone or as part of a multiarm robotic system. The adopted solution for the voice commands interface is presented. Some experimental results are illustrated pointing out the behavior of the robot in a surgical procedure.