Liviu Iacob SCURTU, Doina PÎSLĂ, Călin VAIDA, Dorin LEŞE, Nicolae PLITEA


In recent years, parallel robots have been used in many applications covering human-systems interaction, medical tasks and rehabilitation. This paper presents the innovative development of a surgical parallel robot designed for laparoscopic camera positioning in the surgical field. This research presents the structural synthesis of a parallel robot with linear and rotary active joints. The robot has five degrees of freedom and two guiding kinematics chains of the platform. The algorithm of the geometrical model of the parallel mechanism, designed for minimal invasive surgery is established. Some conclusions are drawn pointing out the advantages of the structure.

Key words: surgical robot, five freedom degrees

Full Text:



Nabil, Simaan., Analysis and Synthesis of Parallel Robots for Medical Applications, research thesis, Haifa, Israel, (1999).

Jaspers, JE., Breedveld, P., Herder, JL., Grimbergen, CA., Camera and instrument holders and their clinical value in minimally invasive surgery., 14(3):145-52 Surg Laparosc Endosc Percutan Tech.,’04.

Pisla, Doina., Plitea, Nicolae., Vaida, Calin., Hesselbach, J., Raatz, A., et all., PARAMIS parallel robot for laparoscopic surgery, Chirurgia, No.5, pp. 677 -41, 683, Cluj, Romania, (2010).

Aiono, S., Gilbert, JM., Soin, B., Finlay, PA.., Gordan A., Controlled trial of the introduction of a robotic camera assistant (EndoAssist) for laparoscopic cholecystectomy. Surg Endosc. 2002; 16(9):1267-70. Epub (2002).

Polet, R., Donnez, J., Using a Laparoscope Manipulator (LapMan) in Laparoscopic Gynecological Surgery, Surgical Technology International XVII, Belgium, Universal Medical Press (2007).

Bruno, Dieter., Chris, Threat., da Vinci Prostatectomy (Robotically Assisted Radical Prostatectomy), 3351 El Camino. Real, Suite 101 Atherton, CA 94027n (650) 306-1016

Plitea, Nicolae., Vlad, Liviu., Popescu, Irinel., Pisla, Doina., et all., E-learning platform for hepatic robotic minimally invasive surgery using parallel structures, Acta Technica Napocensis, No: 51, Vol. III, (2008).

Vaida, Calin., Contributii la realizarea si modelarea cinematico-dinamica a robotilor paraleli pentru chirurgia minim invaziva, PhD. Thesis, Cluj-Napoca, Romania, (2008)

Plitea, Nicolae., Hesselbach, J., Pisla, Doina., et all, Innovative development of parallel robots and microrobots, Acta Technica Napocensis, No: 49, Vol.V, 2006

Plitea, Nicolae., Pisla, Doina., Negrean Iuliu., Arghir, Mariana et all., Innovative development of parallel microrobots with four degree of freedom, Acta Technica Napocensis, No: 50 Vol.IV, (2007).

Kanann, Daniel., Wenger, Philippe., Chablat, Damien., Workspace and Kinematic Analysis of the VERNE machine, AIM, Zürich, Suisse, (2007)

Graur, Florin., Scurtu, Liviu., Furcea, Luminita., Plitea, Nicolae., et all., Training Platform for Robotic Assisted Liver Surgery - the Surgeon Point of View, Eucomes Proceedings, Cluj, Romania, (2010)

Graur, Florin., Pisla, Doina., Scurtu, Liviu., et all., Liver 3D Reconstruction Modalities - The First Step Toward a Laparoscopic Liver Surgery Simulator, IFMBE Proceedings, 26, 251-257 (2009)

Graur, Florin., Frunza, M., Elisei, R., Furcea, L., Scurtu, L., et all., Ethics in Robotic Surgery and Telemedicine, Eucomes Proceedings, Cluj, Romania, 2010


  • There are currently no refbacks.