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Bogdan Gherman
CESTER, Technical University of Cluj-Napoca, 400641 Cluj-Napoca, Romania

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Journal article
Published: 22 March 2021 in International Journal of Environmental Research and Public Health
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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.

ACS Style

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 Style

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 (6):3281.

Chicago/Turabian Style

Paul 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.

Conference paper
Published: 25 December 2020 in IOP Conference Series: Materials Science and Engineering
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This paper presents a novel robotic system for the lower limb rehabilitation of post-stroke survivors. The model presented in this paper aims to demonstrate an innovative solution that helps in the mobilization of the hip and knee flexion/extension and the ankle plantar flexion/extension and eversion/inversion motions. The paper focuses on achieving the dynamic balancing of the hip-knee module, which due to high accelerations peak values and large size is prone to a certain degree of instability, leading to shaking forces and unwanted vibration that might reduce the safety feelings of the patient. A dynamically balanced mechanism will reduce noise, wear and fatigue and allow higher payload capacity.

ACS Style

I. Nadas; B. Gherman; I. Bîrlescu; R. Bogateanu; A. Banica; G. Carbone; D. Pisla. Dynamic balancing of RECOVER robotic system. IOP Conference Series: Materials Science and Engineering 2020, 997, 012083 .

AMA Style

I. Nadas, B. Gherman, I. Bîrlescu, R. Bogateanu, A. Banica, G. Carbone, D. Pisla. Dynamic balancing of RECOVER robotic system. IOP Conference Series: Materials Science and Engineering. 2020; 997 (1):012083.

Chicago/Turabian Style

I. Nadas; B. Gherman; I. Bîrlescu; R. Bogateanu; A. Banica; G. Carbone; D. Pisla. 2020. "Dynamic balancing of RECOVER robotic system." IOP Conference Series: Materials Science and Engineering 997, no. 1: 012083.

Journal article
Published: 09 September 2020 in International Journal of Environmental Research and Public Health
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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).

ACS Style

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 Style

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 (18):6557.

Chicago/Turabian Style

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. 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.

Conference paper
Published: 21 August 2020 in Mechanical Engineering and Materials
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The paper presents a Virtual Reality application (VR) related to a robotic assisted lower limb rehabilitation system. The considered robotic system is dedicated to the patient by performing rehabilitation exercises, that vary in terms of amplitude and duration. The patient performance is measured and the progress registered. The patient received instructions are via a VR headset. The robotic system assists a set of pre-defined exercises in parallel with a real-time control of the motion parameters. The VR exercises are reproduced within in Unity environment. The robotic structure is also represented in the VR together with the patient avatar, in order to suggest the type of exercises that must be practiced.

ACS Style

Florin Covaciu; Bogdan Gherman; Adrian Pisla; Giuseppe Carbone; Doina Pisla. Rehabilitation System with Integrated Visual Stimulation. Mechanical Engineering and Materials 2020, 131 -137.

AMA Style

Florin Covaciu, Bogdan Gherman, Adrian Pisla, Giuseppe Carbone, Doina Pisla. Rehabilitation System with Integrated Visual Stimulation. Mechanical Engineering and Materials. 2020; ():131-137.

Chicago/Turabian Style

Florin Covaciu; Bogdan Gherman; Adrian Pisla; Giuseppe Carbone; Doina Pisla. 2020. "Rehabilitation System with Integrated Visual Stimulation." Mechanical Engineering and Materials , no. : 131-137.

Journal article
Published: 03 July 2020 in Mathematics
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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.

ACS Style

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 Style

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 (7):1086.

Chicago/Turabian Style

Iosif 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.

Journal article
Published: 19 January 2020 in International Journal of Environmental Research and Public Health
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A few decades ago, robotics started to be implemented in the medical field, especially in the rehabilitation of patients with different neurological diseases that have led to neuromuscular disorders. The main concern regarding medical robots is their safety assurance in the medical environment. The goal of this paper is to assess the risk of a medical robotic system for elbow and wrist rehabilitation in terms of robot and patient safety. The approached risk assessment follows the ISO12100:2010 risk management chart in order to determine, identify, estimate, and evaluate the possible risk that can occur during the use of the robotic system. The result of the risk assessment process is further analyzed using a fuzzy logic system in order to determine the safety degree conferred during the use of the robotic system. The innovative process concerning the risk assessment allows the achievement of a reliable medical robotic system both for the patient and the clinicians as well. The clinical trials performed on a group of 18 patients validated the functionality and the safe behavior of the robotic system.

ACS Style

Paul Tucan; Bogdan Gherman; Kinga Major; Calin Vaida; Zoltan Major; Nicolae Plitea; Giuseppe Carbone; Doina Pisla. Fuzzy Logic-Based Risk Assessment of a Parallel Robot for Elbow and Wrist Rehabilitation. International Journal of Environmental Research and Public Health 2020, 17, 654 .

AMA Style

Paul Tucan, Bogdan Gherman, Kinga Major, Calin Vaida, Zoltan Major, Nicolae Plitea, Giuseppe Carbone, Doina Pisla. Fuzzy Logic-Based Risk Assessment of a Parallel Robot for Elbow and Wrist Rehabilitation. International Journal of Environmental Research and Public Health. 2020; 17 (2):654.

Chicago/Turabian Style

Paul Tucan; Bogdan Gherman; Kinga Major; Calin Vaida; Zoltan Major; Nicolae Plitea; Giuseppe Carbone; Doina Pisla. 2020. "Fuzzy Logic-Based Risk Assessment of a Parallel Robot for Elbow and Wrist Rehabilitation." International Journal of Environmental Research and Public Health 17, no. 2: 654.

Journal article
Published: 19 December 2019 in Applied Sciences
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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.

ACS Style

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 Style

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 (1):52.

Chicago/Turabian Style

Doina 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.

Conference paper
Published: 24 May 2018 in Mechanical Engineering and Materials
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This paper presents the kinematics of modular a parallel robot for post-stroke rehabilitation of elbow and wrist. The targeted motions for rehabilitation are: elbow flexion, pronation/supination, flexion/extension and adduction/abduction (radial/ulnar deviation) of the wrist. The kinematic structure of the robotic system is presented starting from general considerations concerning the rehabilitation protocol of the upper limb. Its kinematics is developed and simulation results are presented for a proposed training exercise.

ACS Style

B. Gherman; Giuseppe Carbone; N. Plitea; M. Ceccarelli; A. Banica; D. Pisla. Kinematic Design of a Parallel Robot for Elbow and Wrist Rehabilitation. Mechanical Engineering and Materials 2018, 147 -154.

AMA Style

B. Gherman, Giuseppe Carbone, N. Plitea, M. Ceccarelli, A. Banica, D. Pisla. Kinematic Design of a Parallel Robot for Elbow and Wrist Rehabilitation. Mechanical Engineering and Materials. 2018; ():147-154.

Chicago/Turabian Style

B. Gherman; Giuseppe Carbone; N. Plitea; M. Ceccarelli; A. Banica; D. Pisla. 2018. "Kinematic Design of a Parallel Robot for Elbow and Wrist Rehabilitation." Mechanical Engineering and Materials , no. : 147-154.

Journal article
Published: 20 March 2018 in DEStech Transactions on Engineering and Technology Research
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The paper presents the description of the singular loci for a parallel robotic system designed for transperineal prostate biopsy, using algebraic geometry. Singular configurations define the conditions where a robot has an uncontrollable behavior, by losing or gaining degrees of freedom, and must be avoided in exploitation. The proposed approach ensures the complete description of all mathematical singular configurations with a double role, for enabling structural optimization, and a real-time PLC configuration as a fail-safe tool for the robot during exploitation. The method used for singularity analysis uses Study parameters to obtain the mathematical model, and algebraic geometry to solve the model. A clear separation is made between the theoretical singularities and the physically possible ones, and the findings of this research are compared to previews research regarding the parallel robot presented in this paper.

ACS Style

D. Pisla; I. Birlescu; C. Vaida; P. Tucan; B. Gherman; D. Popescu; N. Plitea. TOWARDS A FAIL-SAFE PROSTATE BIOPSY PARALLEL ROBOT USING ALGEBRAIC GEOMETRY. DEStech Transactions on Engineering and Technology Research 2018, 1 .

AMA Style

D. Pisla, I. Birlescu, C. Vaida, P. Tucan, B. Gherman, D. Popescu, N. Plitea. TOWARDS A FAIL-SAFE PROSTATE BIOPSY PARALLEL ROBOT USING ALGEBRAIC GEOMETRY. DEStech Transactions on Engineering and Technology Research. 2018; (icpr):1.

Chicago/Turabian Style

D. Pisla; I. Birlescu; C. Vaida; P. Tucan; B. Gherman; D. Popescu; N. Plitea. 2018. "TOWARDS A FAIL-SAFE PROSTATE BIOPSY PARALLEL ROBOT USING ALGEBRAIC GEOMETRY." DEStech Transactions on Engineering and Technology Research , no. icpr: 1.

Conference paper
Published: 30 September 2017 in Mechanical Engineering and Materials
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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.

ACS Style

N. Plitea; B. Gherman; Giuseppe Carbone; M. Ceccarelli; C. Vaida; A. Banica; D. Pisla; A. Pisla. Kinematic Analysis of an Exoskeleton-Based Robot for Elbow and Wrist Rehabilitation. Mechanical Engineering and Materials 2017, 424 -433.

AMA Style

N. Plitea, B. Gherman, Giuseppe Carbone, M. Ceccarelli, C. Vaida, A. Banica, D. Pisla, A. Pisla. Kinematic Analysis of an Exoskeleton-Based Robot for Elbow and Wrist Rehabilitation. Mechanical Engineering and Materials. 2017; ():424-433.

Chicago/Turabian Style

N. Plitea; B. Gherman; Giuseppe Carbone; M. Ceccarelli; C. Vaida; A. Banica; D. Pisla; A. Pisla. 2017. "Kinematic Analysis of an Exoskeleton-Based Robot for Elbow and Wrist Rehabilitation." Mechanical Engineering and Materials , no. : 424-433.

Conference paper
Published: 01 January 2017 in 11TH INTERNATIONAL CONFERENCE OF PROCESSES IN ISOTOPES AND MOLECULES (PIM 2017)
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The present study highlights the advantages of robotic systems for post-stroke rehabilitation of the upper limb. The latest demographic studies illustrate a continuous increase of the average life span, which leads to a continuous increase of stroke incidents and patients requiring rehabilitation. Some studies estimate that by 2030 the number of physical therapists will be insufficient for the patients requiring physical rehabilitation, imposing a shift in the current methodologies. A viable option is the implementation of robotic systems that assist the patient in performing rehabilitation exercises, the physical therapist role being to establish the therapeutic program for each patient and monitor their individual progress. Using a set of clinical measurements for the upper limb motions, the analysis of rehabilitation robotic systems provides a comparative study between the motions required by clinicians and the ones that robotic systems perform for different therapeutic exercises. A critical analysis of existing robots is performed using several classifications: mechanical design, assistance type, actuation and power transmission, control systems and human robot interaction (HRI) strategies. This classification will determine a set of pre-requirements for the definition of new concepts and efficient solutions for robotic assisted rehabilitation therapy.

ACS Style

I. Nadas; C. Vaida; B. Gherman; D. Pisla; G. Carbone. Considerations for designing robotic upper limb rehabilitation devices. 11TH INTERNATIONAL CONFERENCE OF PROCESSES IN ISOTOPES AND MOLECULES (PIM 2017) 2017, 1 .

AMA Style

I. Nadas, C. Vaida, B. Gherman, D. Pisla, G. Carbone. Considerations for designing robotic upper limb rehabilitation devices. 11TH INTERNATIONAL CONFERENCE OF PROCESSES IN ISOTOPES AND MOLECULES (PIM 2017). 2017; ():1.

Chicago/Turabian Style

I. Nadas; C. Vaida; B. Gherman; D. Pisla; G. Carbone. 2017. "Considerations for designing robotic upper limb rehabilitation devices." 11TH INTERNATIONAL CONFERENCE OF PROCESSES IN ISOTOPES AND MOLECULES (PIM 2017) , no. : 1.

Book chapter
Published: 13 November 2015 in Mechanical Engineering and Materials
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Brachytherapy (BT) is an innovative cancer treatment option that allows the delivery of high doses of radiation to specific areas of the body. BT has an important advantage: it doesn’t irradiate unnecessarily healthy tissue, but focalizes mainly on the destruction of tumorous cells. The paper presents an innovative parallel robot designed for BT and a needle trajectory planning software. The algorithm designed for virtual planning of robotic needle insertion allows automatic or manual definition of the needles trajectory. A virtual reality environment has been modelled and simulations using a real needle trajectory have been conducted.

ACS Style

B. Gherman; T. Girbacia; D. Cocorean; C. Vaida; S. Butnariu; N. Plitea; D. Talaba; D. Pisla. Virtual Planning of Needle Guidance for a Parallel Robot Used in Brachytherapy. Mechanical Engineering and Materials 2015, 109 -120.

AMA Style

B. Gherman, T. Girbacia, D. Cocorean, C. Vaida, S. Butnariu, N. Plitea, D. Talaba, D. Pisla. Virtual Planning of Needle Guidance for a Parallel Robot Used in Brachytherapy. Mechanical Engineering and Materials. 2015; ():109-120.

Chicago/Turabian Style

B. Gherman; T. Girbacia; D. Cocorean; C. Vaida; S. Butnariu; N. Plitea; D. Talaba; D. Pisla. 2015. "Virtual Planning of Needle Guidance for a Parallel Robot Used in Brachytherapy." Mechanical Engineering and Materials , no. : 109-120.

Book chapter
Published: 08 August 2015 in Advances in Intelligent Systems and Computing
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Needle insertion procedures cover a large area of applications, like brachytherapy (BT), biopsy or fluid extraction. The paper presents the kinematics of a novel parallel robot designed for needle placement procedures. This implies that the needle will be inserted in the patient’s body from the outside up to a target point following a linear trajectory, the needle tracking being achieved using: visual feedback, ultrasound if possible, otherwise computer tomography (CT). The structural synthesis, the robot kinematics, its workspace and some simulation results are presented in the paper.

ACS Style

Bogdan Gherman; Doina Pîslă; Gabriel Kacso; Nicolae Plitea. Kinematic Behaviour of a Novel Medical Parallel Robot for Needle Placement. Advances in Intelligent Systems and Computing 2015, 329 -338.

AMA Style

Bogdan Gherman, Doina Pîslă, Gabriel Kacso, Nicolae Plitea. Kinematic Behaviour of a Novel Medical Parallel Robot for Needle Placement. Advances in Intelligent Systems and Computing. 2015; ():329-338.

Chicago/Turabian Style

Bogdan Gherman; Doina Pîslă; Gabriel Kacso; Nicolae Plitea. 2015. "Kinematic Behaviour of a Novel Medical Parallel Robot for Needle Placement." Advances in Intelligent Systems and Computing , no. : 329-338.

Book chapter
Published: 08 August 2015 in Advances in Intelligent Systems and Computing
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Robotic systems used for prostate biopsy offer important advantages compared to the manual procedures. In the robotic assisted prostate biopsy procedure, an important problem is to identify the optimal needle trajectories that allow reaching the target tissue and avoiding vital anatomical organs (major blood vessels, internal organs etc.). The paper presents an algorithm for optimal planning of the biopsy needle trajectories, based on virtual reality technologies, using as case study a novel parallel robot designed for transperineal prostate biopsy. The developed algorithm has been tested in a virtual environment for the prostate biopsy robotic-assisted procedure and results are presented.

ACS Style

Doina Pîslă; Bogdan Gherman; Florin Gîrbacia; Călin Vaida; Silviu Butnariu; Teodora Gîrbacia; Nicolae Plitea. Optimal Planning of Needle Insertion for Robotic-Assisted Prostate Biopsy. Advances in Intelligent Systems and Computing 2015, 339 -346.

AMA Style

Doina Pîslă, Bogdan Gherman, Florin Gîrbacia, Călin Vaida, Silviu Butnariu, Teodora Gîrbacia, Nicolae Plitea. Optimal Planning of Needle Insertion for Robotic-Assisted Prostate Biopsy. Advances in Intelligent Systems and Computing. 2015; ():339-346.

Chicago/Turabian Style

Doina Pîslă; Bogdan Gherman; Florin Gîrbacia; Călin Vaida; Silviu Butnariu; Teodora Gîrbacia; Nicolae Plitea. 2015. "Optimal Planning of Needle Insertion for Robotic-Assisted Prostate Biopsy." Advances in Intelligent Systems and Computing , no. : 339-346.

Book chapter
Published: 27 August 2014 in Mechanical Engineering and Materials
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The paper presents the dynamic model of a 2-DOF orientation mechanism, where the Euler’s second law has been used. The kinematics, workspace and singularities of the mechanism are also presented. The dynamic model is developed using the motion equations of the mobile platform. Simulations results using the mentioned model as well as a commercial simulation software are shown.

ACS Style

T. Itul; B. Gherman; D. Cocorean; D. Pisla. Inverse Dynamics of 2-DOF Parallel Mechanism Used for Orientation. Mechanical Engineering and Materials 2014, 455 -462.

AMA Style

T. Itul, B. Gherman, D. Cocorean, D. Pisla. Inverse Dynamics of 2-DOF Parallel Mechanism Used for Orientation. Mechanical Engineering and Materials. 2014; ():455-462.

Chicago/Turabian Style

T. Itul; B. Gherman; D. Cocorean; D. Pisla. 2014. "Inverse Dynamics of 2-DOF Parallel Mechanism Used for Orientation." Mechanical Engineering and Materials , no. : 455-462.

Book chapter
Published: 20 May 2014 in Advances in Robot Kinematics
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The chapter presents the kinematics of a new parallel robot for brachytherapy. Brachytherapy (BT) is an innovative technique called also internal radiation, which enables the physician to deliver higher doses of radiation to very-specific areas of the body. Nowadays, BT usage is limited by the insufficient accuracy of the radioactive seeds placement devices. Thus, the authors propose an innovative modular parallel structure which overcomes these limitations, enabling the high accurate positioning of the BT needles in any parts of the patient’s body. The kinematics of the new 5-DOF parallel robot is presented. The dextrous workspace of the robot is computed. Some specific advantages of this structure and the conclusions are presented in the end.

ACS Style

Bogdan Gherman; Nicolae Plitea; Bogdan Galdau; Calin Vaida; Doina Pisla. On the Kinematics of an Innovative Parallel Robot for Brachytherapy. Advances in Robot Kinematics 2014, 475 -483.

AMA Style

Bogdan Gherman, Nicolae Plitea, Bogdan Galdau, Calin Vaida, Doina Pisla. On the Kinematics of an Innovative Parallel Robot for Brachytherapy. Advances in Robot Kinematics. 2014; ():475-483.

Chicago/Turabian Style

Bogdan Gherman; Nicolae Plitea; Bogdan Galdau; Calin Vaida; Doina Pisla. 2014. "On the Kinematics of an Innovative Parallel Robot for Brachytherapy." Advances in Robot Kinematics , no. : 475-483.

Book chapter
Published: 24 December 2013 in Mechanical Engineering and Materials
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The author sequence order should be: N. Plitea, C. Vaida, B. Gherman, A. Szilaghyi, B. Galdau, D. Cocorean, F. Covaciu and D. Pisla instead of C. Vaida, N. Plitea, B. Gherman, A. Szilaghyi, B. Galdau, D. Cocorean, F. Covaciu and D. Pisla.

ACS Style

N. Plitea; Calin Vaida; B. Gherman; A. Szilaghyi; B. Galdau; D. Cocorean; F. Covaciu; Doina Pisla. Erratum to: Structural Analysis and Synthesis of Parallel Robots for Brachytherapy. Mechanical Engineering and Materials 2013, 16, E1 -E1.

AMA Style

N. Plitea, Calin Vaida, B. Gherman, A. Szilaghyi, B. Galdau, D. Cocorean, F. Covaciu, Doina Pisla. Erratum to: Structural Analysis and Synthesis of Parallel Robots for Brachytherapy. Mechanical Engineering and Materials. 2013; 16 ():E1-E1.

Chicago/Turabian Style

N. Plitea; Calin Vaida; B. Gherman; A. Szilaghyi; B. Galdau; D. Cocorean; F. Covaciu; Doina Pisla. 2013. "Erratum to: Structural Analysis and Synthesis of Parallel Robots for Brachytherapy." Mechanical Engineering and Materials 16, no. : E1-E1.

Book chapter
Published: 19 October 2013 in Mechanical Engineering and Materials
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Brachytherapy (BT) is an advanced form of radiation therapy enabling the concentration of high doses in specific target points, enabling the direct treatment of tumors without damaging the proximal healthy tissues. BT usage is limited by the insufficient accuracy of radioactive seeds placement in the body. For this purpose, the paper presents an innovative family of modular parallel robots designed specifically to overcome the limitations of current BT procedures. The robotic structures employ two distinct modules in conjunction, which result in a reduced number of moving parts and removal of unwanted motions.

ACS Style

N. Plitea; C. Vaida; B. Gherman; A. Szilaghyi; B. Galdau; D. Cocorean; F. Covaciu; D. Pisla. An Innovative Family of Modular Parallel Robots for Brachytherapy. Mechanical Engineering and Materials 2013, 18, 69 -79.

AMA Style

N. Plitea, C. Vaida, B. Gherman, A. Szilaghyi, B. Galdau, D. Cocorean, F. Covaciu, D. Pisla. An Innovative Family of Modular Parallel Robots for Brachytherapy. Mechanical Engineering and Materials. 2013; 18 ():69-79.

Chicago/Turabian Style

N. Plitea; C. Vaida; B. Gherman; A. Szilaghyi; B. Galdau; D. Cocorean; F. Covaciu; D. Pisla. 2013. "An Innovative Family of Modular Parallel Robots for Brachytherapy." Mechanical Engineering and Materials 18, no. : 69-79.

Book chapter
Published: 07 September 2013 in Mechanical Engineering and Materials
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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.

ACS Style

Calin Vaida; N. Plitea; B. Gherman; A. Szilaghyi; B. Galdau; D. Cocorean; F. Covaciu; Doina Pisla. Structural Analysis and Synthesis of Parallel Robots for Brachytherapy. Mechanical Engineering and Materials 2013, 16, 191 -204.

AMA Style

Calin Vaida, N. Plitea, B. Gherman, A. Szilaghyi, B. Galdau, D. Cocorean, F. Covaciu, Doina Pisla. Structural Analysis and Synthesis of Parallel Robots for Brachytherapy. Mechanical Engineering and Materials. 2013; 16 ():191-204.

Chicago/Turabian Style

Calin Vaida; N. Plitea; B. Gherman; A. Szilaghyi; B. Galdau; D. Cocorean; F. Covaciu; Doina Pisla. 2013. "Structural Analysis and Synthesis of Parallel Robots for Brachytherapy." Mechanical Engineering and Materials 16, no. : 191-204.

Conference paper
Published: 01 January 2013 in IFAC Proceedings Volumes
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ACS Style

B. Gyurka; B. Gherman; C. Vaida; I. Kovacs; D. Pisla; Gyurka Béla-Zoltán; Gybz Gyurka Béla-Zoltán; Bogdangherman Gherman Bogdan; Vaida.Calin Vaida Calin; Kovacsi Kovács István; Doina.Pisla Pisla Doina. Optimal control for reducing the energy consumption of a reconfigurable parallel robot. IFAC Proceedings Volumes 2013, 46, 143 -148.

AMA Style

B. Gyurka, B. Gherman, C. Vaida, I. Kovacs, D. Pisla, Gyurka Béla-Zoltán, Gybz Gyurka Béla-Zoltán, Bogdangherman Gherman Bogdan, Vaida.Calin Vaida Calin, Kovacsi Kovács István, Doina.Pisla Pisla Doina. Optimal control for reducing the energy consumption of a reconfigurable parallel robot. IFAC Proceedings Volumes. 2013; 46 (6):143-148.

Chicago/Turabian Style

B. Gyurka; B. Gherman; C. Vaida; I. Kovacs; D. Pisla; Gyurka Béla-Zoltán; Gybz Gyurka Béla-Zoltán; Bogdangherman Gherman Bogdan; Vaida.Calin Vaida Calin; Kovacsi Kovács István; Doina.Pisla Pisla Doina. 2013. "Optimal control for reducing the energy consumption of a reconfigurable parallel robot." IFAC Proceedings Volumes 46, no. 6: 143-148.