Nicolae Plitea

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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 kinematicmodelling of a 5-degree of freedom hybrid parallel architecture in two slightly different variants. The kinematics of this(More)
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(More)
The paper presents the parallel robot, which has been developed in Romania and it is used for laparoscope camera positioning. Based on its mathematical modeling, the first low-cost experimental model of the PARAMIS surgical robot has been built. The system has been built in such a way that it has the possibility to transform it in a multiarm robot(More)
Reconfigurable robots can be defined as a group of robots that can have different geometries, thus obtaining different structures derived from the basic one, having different degrees of freedom and workspaces. Thanks to the optimum dexterity they offer, the user can accomplish a large variety of industrial tasks, using a structurally optimized robot leading(More)
This paper presents the parallel hybrid robot, PARASURG 9M, for robotically assisted surgery, a robot which was entirely designed and produced in Romania. It is a versatile robot, being composed of a positioning and orientation module, PARASURG 5M with five degrees of freedom, having the possibility of attaching at its end either a laparoscope or an active(More)
Beside a quantity of well-known positive characteristics parallel robots also obtain a couple of negative properties limiting their efficient use in certain application areas nowadays. Additional sensors integrated in the passive joints provide the possibility to overcome several of these limitations simultaneously thus leading towards an increasing overall(More)
Modeling and simulation is one of the essential aspects in the robots research field. In order to understand the importance of the graphical simulation it is necessary to consider why and where the simulation systems are mainly used. The industrial tendency is to develop simulation systems, which could be of help for the systems (robots) off-line control(More)
The design and control of a new parallel robot for brachytherapy is presented. In brachytherapy, a local minimally invasive oncological treatment known also as internal radiation, a needle is placed with high precision, in or near the tumor, to deliver higher doses of radiation. Currently most of the structures used for brachytherapy are designed for easy(More)
ing and Indexing Aims and Scope: Acta Technica Napocensis:Civil Engineering & Architecture provides a forum for scientific and technical papers to reflect the evolving needs of the civil and structural engineering communities. The scope of Acta Technica Napocensis: Civil Engineering & Architecture encompasses, but is not restricted to, the following areas:(More)