Doina PISLA, Florin COVACIU, Bogdan GHERMAN, Calin VAIDA, Nicolae PLITEA


The paper presents a new serial communication protocol which is used in the control of a parallel robot for brachytherapy. For safety reasons, the control system has been designed according to a specific protocol which covers the therapeutic aspects and safety issues, mentioned by the oncologists. The robotic system, called BR-1, has 5 degrees of freedom and was developed in two configurations: BR-1R (with rotational passive joints) and BR-1T (with translational passive joints), each one used for different brachytherapy procedures.

Key words: brachytherapy, parallel robot, serial communication protocol, user interface

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