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The paper presents the design optimization of the ASPIRE spherical parallel robot for shoulder rehabilitation following clinical evaluation and clinicians’ feedback. After the development of the robotic structure and the implementation of the control system, ASPIRE was prepared for clinical evaluation. A set of clinical trials was performed on 24 patients with different neurological disorders to obtain the patient and clinician acceptance of the rehabilitation system. During the clinical trials, the behavior of the robotic system was closely monitored and analyzed in order to improve its reliability and overall efficiency. Along with its reliability and efficiency, special attention was given to the safety characteristics during the rehabilitation task.
Paul Tucan; Calin Vaida; Ionut Ulinici; Alexandru Banica; Alin Burz; Nicoleta Pop; Iosif Birlescu; Bogdan Gherman; Nicolae Plitea; Tiberiu Antal; Giuseppe Carbone; Doina Pisla. Optimization of the ASPIRE Spherical Parallel Rehabilitation Robot Based on Its Clinical Evaluation. International Journal of Environmental Research and Public Health 2021, 18, 3281 .
AMA StylePaul Tucan, Calin Vaida, Ionut Ulinici, Alexandru Banica, Alin Burz, Nicoleta Pop, Iosif Birlescu, Bogdan Gherman, Nicolae Plitea, Tiberiu Antal, Giuseppe Carbone, Doina Pisla. Optimization of the ASPIRE Spherical Parallel Rehabilitation Robot Based on Its Clinical Evaluation. International Journal of Environmental Research and Public Health. 2021; 18 (6):3281.
Chicago/Turabian StylePaul Tucan; Calin Vaida; Ionut Ulinici; Alexandru Banica; Alin Burz; Nicoleta Pop; Iosif Birlescu; Bogdan Gherman; Nicolae Plitea; Tiberiu Antal; Giuseppe Carbone; Doina Pisla. 2021. "Optimization of the ASPIRE Spherical Parallel Rehabilitation Robot Based on Its Clinical Evaluation." International Journal of Environmental Research and Public Health 18, no. 6: 3281.
Hepatocellular carcinoma (HCC) is one of the leading causes of cancer-related deaths worldwide, with its mortality rate correlated with the tumor staging; i.e., early detection and treatment are important factors for the survival rate of patients. This paper presents the development of a novel visualization and detection system for HCC, which is a composing module of a robotic system for the targeted treatment of HCC. The system has two modules, one for the tumor visualization that uses image fusion (IF) between computerized tomography (CT) obtained preoperatively and real-time ultrasound (US), and the second module for HCC automatic detection from CT images. Convolutional neural networks (CNN) are used for the tumor segmentation which were trained using 152 contrast-enhanced CT images. Probabilistic maps are shown as well as 3D representation of HCC within the liver tissue. The development of the visualization and detection system represents a milestone in testing the feasibility of a novel robotic system in the targeted treatment of HCC. Further optimizations are planned for the tumor visualization and detection system with the aim of introducing more relevant functions and increase its accuracy.
Corina Radu; Petra Fisher; Delia Mitrea; Iosif Birlescu; Tiberiu Marita; Flaviu Vancea; Vlad Florian; Cristian Tefas; Radu Badea; Horia Ștefănescu; Sergiu Nedevschi; Doina Pisla; Nadim Al Hajjar. Integration of Real-Time Image Fusion in the Robotic-Assisted Treatment of Hepatocellular Carcinoma. Biology 2020, 9, 397 .
AMA StyleCorina Radu, Petra Fisher, Delia Mitrea, Iosif Birlescu, Tiberiu Marita, Flaviu Vancea, Vlad Florian, Cristian Tefas, Radu Badea, Horia Ștefănescu, Sergiu Nedevschi, Doina Pisla, Nadim Al Hajjar. Integration of Real-Time Image Fusion in the Robotic-Assisted Treatment of Hepatocellular Carcinoma. Biology. 2020; 9 (11):397.
Chicago/Turabian StyleCorina Radu; Petra Fisher; Delia Mitrea; Iosif Birlescu; Tiberiu Marita; Flaviu Vancea; Vlad Florian; Cristian Tefas; Radu Badea; Horia Ștefănescu; Sergiu Nedevschi; Doina Pisla; Nadim Al Hajjar. 2020. "Integration of Real-Time Image Fusion in the Robotic-Assisted Treatment of Hepatocellular Carcinoma." Biology 9, no. 11: 397.
Motor disability is a key feature of many neurological diseases, influencing the social roles of affected patients and their ability to perform daily life activities. Current rehabilitation capacities are overwhelmed by the age-related increase of motor dysfunctions seen, for example, in stroke, extrapyramidal or neuromuscular diseases. As the patient to rehabilitation personnel ration increases, robotic solutions might establish the possibility to rapidly satisfy the increasing demand for rehabilitation. This paper presents an inaugural exploratory study which investigates the interchangeability of a novel experimental robotic rehabilitation device system with classical physical therapy, using a multimodal neurophysiological assessment of the motor system—quantitative electroencephalogram (EEG), motor conduction times and turn/amplitude analysis. Preliminary results show no significant difference between the two methods; however, a significant effect of the therapy was found on different pathologies (beneficial for vascular and extrapyramidal, or limited, and only on preventing reduction of joint movements in neuromuscular).
Zoltán Major; Calin Vaida; Kinga Major; Paul Tucan; Gábor Simori; Alexandru Banica; Emanuela Brusturean; Alin Burz; Raul Craciunas; Ionut Ulinici; Giuseppe Carbone; Bogdan Gherman; Iosif Birlescu; Doina Pisla. The Impact of Robotic Rehabilitation on the Motor System in Neurological Diseases. A Multimodal Neurophysiological Approach. International Journal of Environmental Research and Public Health 2020, 17, 6557 .
AMA StyleZoltán Major, Calin Vaida, Kinga Major, Paul Tucan, Gábor Simori, Alexandru Banica, Emanuela Brusturean, Alin Burz, Raul Craciunas, Ionut Ulinici, Giuseppe Carbone, Bogdan Gherman, Iosif Birlescu, Doina Pisla. The Impact of Robotic Rehabilitation on the Motor System in Neurological Diseases. A Multimodal Neurophysiological Approach. International Journal of Environmental Research and Public Health. 2020; 17 (18):6557.
Chicago/Turabian StyleZoltán Major; Calin Vaida; Kinga Major; Paul Tucan; Gábor Simori; Alexandru Banica; Emanuela Brusturean; Alin Burz; Raul Craciunas; Ionut Ulinici; Giuseppe Carbone; Bogdan Gherman; Iosif Birlescu; Doina Pisla. 2020. "The Impact of Robotic Rehabilitation on the Motor System in Neurological Diseases. A Multimodal Neurophysiological Approach." International Journal of Environmental Research and Public Health 17, no. 18: 6557.
The paper proposes a mathematical method for redefining motion parameterizations based on the joint-space representation of parallel robots. The study parameters of SE(3) are used to describe the robot kinematic chains, but, rather than directly analyzing the mobile platform motion, the joint-space of the mechanism is studied by eliminating the Study parameters. From the loop equations of the joint-space characterization, new parameterizations are defined, which enable the placement of a mobile frame on any mechanical element within the parallel robot. A case study is presented for a medical parallel robotic system in which the joint-space characterization is achieved and based on a new defined parameterization, the kinematics for displacement, velocities, and accelerations are studied. A numerical simulation is presented for the derived kinematic models, showing how the medical robot guides the medical tool (ultrasound probe) on an imposed trajectory.
Iosif Birlescu; Manfred Husty; Calin Vaida; Bogdan Gherman; Paul Tucan; Doina Pisla. Joint-Space Characterization of a Medical Parallel Robot Based on a Dual Quaternion Representation of SE(3). Mathematics 2020, 8, 1086 .
AMA StyleIosif Birlescu, Manfred Husty, Calin Vaida, Bogdan Gherman, Paul Tucan, Doina Pisla. Joint-Space Characterization of a Medical Parallel Robot Based on a Dual Quaternion Representation of SE(3). Mathematics. 2020; 8 (7):1086.
Chicago/Turabian StyleIosif Birlescu; Manfred Husty; Calin Vaida; Bogdan Gherman; Paul Tucan; Doina Pisla. 2020. "Joint-Space Characterization of a Medical Parallel Robot Based on a Dual Quaternion Representation of SE(3)." Mathematics 8, no. 7: 1086.
Hepatic cancers represent an important worldwide health issue where surgery alone in most cases is not a feasible therapeutic solution since most tumors are non-resectable. Despite targeted therapies showing positive results in other areas of cancer treatment, in the case of liver tumors, no low-risk delivery methods have been identified. Based on a risk assessment approach, this paper proposes a technical solution in the form of a robotic system capable of achieving a reliable delivery method for targeted treatment, focusing on the patient safety and therapeutic efficiency. The design of the robotic system starts from the definition of the design constraints with respect to the medical protocol. An analytical hierarchy process is used to prioritize the data correlated with the technical characteristics of a new robotic system, aiming to minimize risks associated with the medical procedure. In a four-phase quality function deployment, the technical solution is evaluated with respect to the quality characteristics, functions, subsystems, and components aiming to achieve a safe and reliable system with high therapeutic efficiency. The results lead to the concept of HeRo, a parallel robotic system for the reliable targeted treatment of non-resectable liver tumors.
Doina Pisla; Vaida Calin; Iosif Birlescu; Nadim Al Hajjar; Bogdan Gherman; Corina Radu; Nicolae Plitea. Risk Management for the Reliability of Robotic Assisted Treatment of Non-resectable Liver Tumors. Applied Sciences 2019, 10, 52 .
AMA StyleDoina Pisla, Vaida Calin, Iosif Birlescu, Nadim Al Hajjar, Bogdan Gherman, Corina Radu, Nicolae Plitea. Risk Management for the Reliability of Robotic Assisted Treatment of Non-resectable Liver Tumors. Applied Sciences. 2019; 10 (1):52.
Chicago/Turabian StyleDoina Pisla; Vaida Calin; Iosif Birlescu; Nadim Al Hajjar; Bogdan Gherman; Corina Radu; Nicolae Plitea. 2019. "Risk Management for the Reliability of Robotic Assisted Treatment of Non-resectable Liver Tumors." Applied Sciences 10, no. 1: 52.
The paper presents a complete geometric analysis of a novel parallel medical robotic system designed for minimally invasive treatment of hepatic tumors using brachytherapy, ablation or targeted chemotherapy. An algebraic method based on the study parameters of the special Euclidean transformation Lie group SE(3) was used to determine the mechanism kinematics singularities and workspace. Moreover, two particular medical tool manipulations for the minimally invasive medical procedures are defined in terms of the Study parameters. The first manipulation of the medical tool refers to the linear insertion (of e.g., needles) and the second one is the remote center of motion manipulation of specific medical instruments (e.g., ultrasound probes). The constraint equations of the robotic system are derived and then, the operational workspace is illustrated for the novel parallel robotic system. Lastly, a numerical simulation is presented showing the behavior of the robotic system manipulating the ultrasound probe constrained by the remote center of motion. The geometric analysis of the operational workspace and the numerical simulation show promising results that validate the novel robotic system (safe-wise) for the medical procedure.
Iosif Birlescu; Manfred Husty; Calin Vaida; Nicolae Plitea; Abhilash Nayak; Doina Pisla. Complete Geometric Analysis Using the Study SE(3) Parameters for a Novel, Minimally Invasive Robot Used in Liver Cancer Treatment. Symmetry 2019, 11, 1491 .
AMA StyleIosif Birlescu, Manfred Husty, Calin Vaida, Nicolae Plitea, Abhilash Nayak, Doina Pisla. Complete Geometric Analysis Using the Study SE(3) Parameters for a Novel, Minimally Invasive Robot Used in Liver Cancer Treatment. Symmetry. 2019; 11 (12):1491.
Chicago/Turabian StyleIosif Birlescu; Manfred Husty; Calin Vaida; Nicolae Plitea; Abhilash Nayak; Doina Pisla. 2019. "Complete Geometric Analysis Using the Study SE(3) Parameters for a Novel, Minimally Invasive Robot Used in Liver Cancer Treatment." Symmetry 11, no. 12: 1491.
In the field of robotic assisted rehabilitation, some parallel mechanisms guide the anatomic limb using a kinematic chain (similar to an exoskeleton), thus, the motion of the moving platform serve no benefit in controlling the rehabilitation exercise. However, the dependency between the active joints of the robot and some intrinsic motion parameters (correlated with the anatomic joints) is required. The authors propose a new algebraic parameterization method based on Study parameters of SE(3), which achieves a direct mathematical description between the desired motion parameters of parallel mechanisms. The moving platform coordinates are eliminated from the constraint equations together with unwanted motion parameters (usually free motion parameters). The approach is first demonstrated on a generic mechanism and thereafter, in a case study, where the constraint equations are derived for a parallel robot (RAISE- designed for lower limb rehabilitation) by eliminating the free motion parameters and obtaining simple input/output equations relating the motion of the active joints of the robot with the motion of the hip and knee joints. The forward and inverse kinematics are presented with numerical examples. The singularities and workspace are also determined for the RAISE parallel robot, showing the particularities and advantages of the proposed approach.
Manfred Husty; Iosif Birlescu; Paul Tucan; Calin Vaida; Doina Pisla. An algebraic parameterization approach for parallel robots analysis. Mechanism and Machine Theory 2019, 140, 245 -257.
AMA StyleManfred Husty, Iosif Birlescu, Paul Tucan, Calin Vaida, Doina Pisla. An algebraic parameterization approach for parallel robots analysis. Mechanism and Machine Theory. 2019; 140 ():245-257.
Chicago/Turabian StyleManfred Husty; Iosif Birlescu; Paul Tucan; Calin Vaida; Doina Pisla. 2019. "An algebraic parameterization approach for parallel robots analysis." Mechanism and Machine Theory 140, no. : 245-257.