Nicolae Plitea

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SUMMARY 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(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)
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)
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)
Robots are useful tools in minimally invasive surgery (MIS), providing benefits such as elimination of hand tremor, better accessibility, possibility of working in awkward positions, workspace scaling and teleoperation. This paper presents the design of a software application and the experimental results regarding the control of PARAMIS surgical parallel(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 paper presents some aspects about the kinematics and workspace of a new parallel robot developed for minimally invasive surgery. Possible motion of the active joints and the laparoscope movement in surgery field are generated using Matlab software. The robot workspace is generated using the developed geometrical model. The benefits of this parallel(More)
This paper presents the kinematic design and simulation of a parallel robot for transperineal prostate biopsy entitled BIO-PROS-2. Parallel structures have been widely appreciated for their positioning precision and stiffness, making them a viable option for transperineal prostate biopsy. The robotic system is designed according to a specific protocol(More)