Doina Pisla

• PhD
• Professor (Full) at Technical University of Cluj-Napoca

The paper presents a novel modular parallel robot for pancreatic surgery and its higher-order kinematics derived based on various formalisms. The classical vector, homogeneous transformation matrices and dual quaternion approaches are studied for the kinematic functions using both classical differentiation and multidual algebra. The algorithms for...

Neurological diseases leading to motor deficits constitute significant challenges to healthcare systems. Despite technological advancements in data acquisition, sensor development, data processing, and virtual reality (VR), a suitable framework for patient-centered neuromotor robot-assisted rehabilitation using collective sensor information does no...

Background: Cerebrovascular accident, commonly known as stroke, Parkinson’s disease, and multiple sclerosis represent significant neurological conditions affecting millions globally. Stroke remains the third leading cause of death worldwide and significantly impacts patients’ hand functionality, making hand rehabilitation crucial for improving qual...

Robotic-assisted procedures offer numerous advantages over traditional approaches, including improved dexterity, reduced fatigue, minimized trauma, and superior outcomes. However, the main challenge of these systems remains the poor visualization and perception of the surgical field. The goal of this paper is to provide an innovative approach conce...

This study explores the experimental and theoretical optimization of process parameters to improve the quality of 3D-printed parts produced using the Fused Deposition Modeling technique. To ensure the cost-effective production of high-quality components, advancements in printing strategies are essential. This research identifies optimal 3D printing...

Stroke, amyotrophic lateral sclerosis (ALS), and Parkinson’s disease are some of the conditions that can lead to neuromotor disabilities requiring rehabilitation. To address the socio-economic burden that is amplified by the rapidly increasing elderly population, traditional rehabilitation techniques have recently been complemented by technological...

The paper presents an innovative virtual reality (VR)-based environment for personalized telerehabilitation programs. This environment integrates a parallel robotic structure designed for the lower limb rehabilitation of patients with neuromotor disabilities and a virtual patient. The robotic structure is controlled via a user interface (UI) that c...

Robotic-assisted procedures offer numerous advantages over traditional approaches, including improved dexterity, reduced fatigue, minimized trauma, and superior outcomes. However, the main challenge of these systems remains the poor visualization and perception of the surgical field. The goal of this paper is to provide an innovative approach conce...

Background: Since laparoscopic surgery became the gold standard for colorectal procedures, specific skills are required to achieve good outcomes. The best way to acquire basic and advanced skills and reach the learning curve plateau is by using dedicated simulators: box-trainers, video-trainers and virtual reality simulators. Laparoscopic skills tr...

Background: Recent advancements in dental implantology have significantly improved outcomes, with success rates of 90–95% over a 10-year period. Key improvements include enhanced preplanning processes, such as precise implant positioning, model selection, and optimal insertion depth. However, challenges remain, particularly in achieving correct spa...

This paper presents the development of the hardware and software architecture of a sixdegrees of freedom (DOF) parallel robot (PARA-SILSROB) by illustrating all the stages undertaken to achieve the experimental model of the robot. Based on the experimental model, the control architecture is also presented, which is primarily based on a master–slave...

The paper focuses on the development of a robotic solution for cancer treatment. Liver cancer and especially hepatocellular carcinoma is one of the deadliest causes of death worldwide. Even more, liver cancer leads to more than half of the metastatic pancreatic cancers. Its treatment depends on the tumor staging and other comorbidities of the patie...

Introduction: Image-guided invasive procedures on the liver require a steep learning curve to acquire the necessary skills. The best and safest way to achieve these skills is through hands-on courses that include simulations and phantoms of different complications, without any risks for patients. There are many liver phantoms on the market made of...

Control systems used in Minimally Invasive Surgery (MIS) play a crucial role in ensuring preci-sion and safety throughout procedures. This paper presents a control architecture developed for a robotic system designed for MIS operations. The modular structure of the control system allows for compatibility with a range of procedures in abdominal and...

Background: Patients with liver pathology benefit from image-guided interventions. Training for interventional procedures is recommended to be performed on liver phantoms until a basic proficiency is reached. In the last 40 years, several attempts have been made to develop materials to mimic the imaging characteristics of the human liver in order t...

The paper presents the kinematic modelling for the coupled motion of a 6-DOF surgical parallel robot PARA-SILSROB which guides a mobile platform carrying the surgical instruments, and the actuators of the sub-modules which hold these tools. To increase the surgical procedure safety, a closed form solution for the kinematic model is derived and then...

This book presents the Proceedings of the 33rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD), held in Cluj-Napoca, Romania, June 5–7, 2024. It gathers contributions by researchers from multiple countries on all major areas of robotic research, development, and innovation, as well as new applications and current trends. The...

The 33rd International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2024, is organized by the Technical University of Cluj-Napoca, Romania, June 5–7, 2024. The conference offers an international and cooperative platform to exchange and discuss recent research results and future trends about robotic technology, engineering, and science....

This paper delineates the design and realization of a Wheelchair-Mounted Robotic Arm (WMRA), envisioned as an autonomous assistance apparatus for individuals encountering motor difficulties and/or upper limb paralysis. The proposed design solution is based on employing a 3D printing process coupled with optimization design techniques to achieve a c...

Artificial intelligence has become a powerful and increasingly reliable tool, being implemented in various domains. However, a very difficult task is to correctly identify the information use to train the AI for a specific task. The aim is to offer an in-depth analysis on the semantic segmentation process for kidneys CT data using Convolutional Neu...

This paper presents the design improvement of an innovative robotic system for lower limb post-stroke rehabilitation. The mechanical weaknesses of the robot are identified using Finite Element Method (FEM) simulations. Strength improvement solutions are designed for the identified weaknesses. The proposed solutions are validated by running a second...

This paper discusses the design and implementation of a wheelchair-mounted robotic arm (WMRA) as an autonomous assistance device for patients with upper limb paralysis. The goal of the project was to create an economical and reliable low-cost robot solution to enable user autonomy during mealtime. The design logic is divided into four phases, inclu...

The paper presents the design optimization of a parallel robotic system designed for liver cancer treatment (ProHep-LCT). Liver cancer and especially hepatocellular carcinoma is one of the deadliest types of cancers around the globe. Although curative treatments (i.e. surgery) are preferred, sometimes the patients are unable to survive such a compl...

Robotic rehabilitation for patients with neuromotor deficit has already proven its efficiency enabling therapists to treat more patients, to use multiple stimuli and defined patient-oriented complex exercises all leading to an increased life quality for the elderly people. The paper focuses on the redesign of a modular robotic system for upper limb...

The paper presents the optimization of a robotic system for shoulder rehabilitation following two clinical trials. During the clinical trials some weaknesses of the robotic structure have been identified by the operator and medical personnel. The optimization of the robotic system is carried out with respect to the identified weaknesses, aiming to...

This paper presents the development of a 6-DOF (Degrees of Freedom) parallel robot for single-incision laparoscopic surgery (SILS). The concept of the robotic system is developed with respect to a medical protocol designed by the medical experts in the team targeting a SILS procedure in urology. The kinematic model of the robotic system was defined...

Robotic-assisted single-incision laparoscopic surgery (SILS) is becoming an increasingly widespread field worldwide due to the benefits it brings to both the patient and the surgeon. The goal of this study is to develop a secure robotic solution for SILS, focusing specifically on urology, by identifying and addressing various safety concerns from a...

The problem: Single-incision surgery is a complex procedure in which any additional information automatically collected from the operating field can be of significance. While the use of robotic devices has greatly improved surgical outcomes, there are still many unresolved issues. One of the major surgical complications, with higher occurrence in...

In recent years, there has been an expansion in the development of simulators that use virtual reality (VR) as a learning tool. In surgery where robots are used, VR serves as a revolutionary technology to help medical doctors train in using these robotic systems and accumulate knowledge without risk. This article presents a study in which VR is use...

Minimally invasive treatment of liver cancer through percutaneous approaches (interstitial brachytherapy, intra-tumoral chemotherapy) requires an accurate needle placement achieved through accurate insertion devices and robust control. This paper presents the stiffness modelling of a needle insertion device used within a robotic system for liver ca...

This paper presents a singularity analysis of a parallel robot for lower limb rehabilitation with the scope of creating a safe environment for the patient and physical therapist during the rehabilitation procedure. The singularities are identified by analyzing the determinants of Jacobi matrices and avoidance solutions using mechanical constraints...

Augmented Reality (AR) became a very useful tool for various domains, with multiple applications in different medical fields, where this technology is integrated in medical training, image-based diagnosis, simulation of medical tasks, or in guiding systems for surgical procedures. The introduction of AR technology in robotic assisted surgery is rel...

The implementation of recommendation systems on different websites, to offer a satisfying experience to user (related both to work and pleasure time), became a vital component for various platforms. Such a system must consider a variety of needs that are unique to the domain for which it is utilized, making its development difficult. The aim of thi...

Liver cancer has become the third most common cause of cancer-related deaths, being ranked as the sixth most common cancer globally. The aim of this paper is to present the development of an innovative medical robotic system that can be used for the minimally invasive treatment of liver cancer through radiofrequency ablation. The robotic system was...

This paper presents the development of the inverse dynamic model for the RECOVER parallel robot, which is used in lower limbs stroke rehabilitation, more precisely in rehabilitation exercises for hip flexion/extension, knee flexion, plantar flexion/dorsiflexion, and inversion/eversion of the ankle. The inverse dynamic model is obtained using the co...

The phenomenon of aging, which has become more prevalent in our society in recent decades, has raised a number of concerns about the well-being of the elderly. Studies show that a significant percentage of retired seniors suffer from depression as a result of inactivity and a poor social environment. In order to provide seniors an opportunity to re...

The paper represents the preliminary findings in developing a multirole, innovative digital platform entitled “WisdomOfAge”, as a Learning Management System (LMS) addressing to the economic and technological dimension of a company (especially start-ups) in reaching competitive manufacturing advantage. The platform is developed within the frame of a...

The research aimed to evaluate the efficacy of the NeuroAssist, a parallel robotic system comprised of three robotic modules equipped with human–robot interaction capabilities, an internal sensor system for torque monitoring, and an external sensor system for real-time patient monitoring for the motor rehabilitation of the shoulder, elbow, and wris...

This paper presents a study regarding the design and the experimental setup of a medical robotic system for brachytherapy using tribology analysis. The robotic system is composed of a collaborative robotic arm and a multi-needle brachytherapy instrument controlled using a unified control system embedding a haptic device and force-feedback. This wor...

Background: SILS (single incision laparoscopic surgery) and NOTES (natural orifice transluminal endoscopic surgery) are considered breakthroughs in minimally invasive surgery, the first consisting in the surgeon working via a single entrance site and the second via a natural orifice (e.g., oral cavity). Methods: Since 2000 until 2022, the origin...

Single-incision laparoscopic surgery (SILS) is on the path of becoming a standard procedure in minimally invasive surgery due to the outstanding results obtained both during and after the medical act, these being defined by the reduced hospitalization time, the reduced recovery time, and the reduced visibility of the incision. The paper presents th...

The paper presents the functional design analysis-based improvements of a robotic guided medical instrument for brachytherapy. The initial design of the medical instrument is analyzed, and its weaknesses are identified and analyzed from several points of view (functionality, ergonomics and materials). The design analysis reveals the specific improv...

The paper presents the singularity analysis and the geometric optimization of a 6-DOF (Degrees of Freedom) parallel robot for SILS (Single-Incision Laparoscopic Surgery). Based on a defined set of input/output constraint equations, the singularities of the parallel robotic system are determined and geometrically interpreted. Then, the geometric par...

This paper presents a dynamic analysis of the ParReEx multibody mechanism, which has been designed for human wrist joint rehabilitation. The starting point of the research is a virtual prototype of the ParReEx multibody mechanism. This model is used to simulate the dynamics of the multibody mechanism using ADAMS in three simulation scenarios: (a) r...

The paper presents a mathematical model for the forward kinematics of an orientation platform integrated within a robotic system for Single Incision Laparoscopic Surgery (SILS). The authors propose the use of perturbation theory as a method for solving the mechanism. The approximation accuracy is assessed for several active joints value ranges, bei...

Given the increasing number of patients suffering from stroke related upper limb spasticity, there is a strong trend in the development of rehabilitation robotic systems. The paper focuses on the development of the inverse dynamic model for the ParReEx-elbow parallel robot, designed for elbow and forearm spasticity treatment. The model is based on...

The paper presents the geometric modeling of an innovative modular robotic system designed for SILS. The proposed robotic system uses a Cartesian positioning robot which aligns simultaneously all the surgical instruments with the access port. Each surgical instrument is positioned, kinematically constrained with respect to de access point by a sphe...

Single Incision Laparoscopic Surgery has become a self-standing approach within the minimally invasive surgery techniques due to its ability of reduced trauma and the almost invisible marks on the patient’s body when achieved using as insertion port the umbilicus. The very tight available space to perform the surgery imposes a significant challenge...

Medical robotics is a highly challenging and rewarding field of research, especially in the development of minimally invasive solutions for the treatment of the worldwide leading cause of death, cancer. The aim of the paper is to provide a design methodology for the development of a safe and efficient medical robotic system for the minimally invasi...

The paper aims to present a solution for the safe, sterile sampling and testing procedures of suspected tuberculosis patients, under the form of a robotic assisted automated process. Starting from the current state of tuberculosis management around the world, as well as the current problems which the medical personnel face when dealing with tubercu...

This paper presents the kinematic modeling of a novel hybrid robot designed for single incision laparoscopic surgery (SILS). The robotic system is based on a spherical architecture, and it is composed of 2 modules. One module is a serial positioning mechanism with 3 degrees of freedom (DOF) and the second module contains 3 individual orientation me...

The paper presents the novel design of the ParReEx-elbow robotic system for the rehabilitation of the upper limb, namely the elbow flexion-extension and pronation-supination. Initially designed for post-stroke rehabilitation, the robot is now fitted for brachial monoparesis treatment, a manifestation of a broad range of neurologic diseases. Followi...

This paper presents studies on the dynamic analysis of the ASPIRE robot, which was designed for the medical recovery of brachial monoparesis. It starts from the virtual model of the existing version of the ASPIRE robot, which is analysed kinematically and dynamically by numerical simulations using the MSC.ADAMS software. For this purpose, this pape...

Robots for rehabilitation tasks require a high degree of safety for the interaction with both the patients and for the operators. In particular, high safety is a stable and intuitive control of the moving elements of the system combined with an external system of sensors able to monitor the position of every aspect of the rehabilitation system (ope...

This paper is focused on the development of a control system, implemented on a parallel robot designed for the lower limb rehabilitation of bedridden stroke survivors. The paper presents the RECOVER robotic system kinematics, further implemented into the control system, which is described in terms of architecture and functionality. Through a batter...

The use of robotic systems in physical rehabilitation protocols has become increasingly attractive and has been given more focus in the last decade as a result of the high prevalence of motor deficits in the population, which is linked to an overburdened healthcare system. In accordance with current trends, three robotic devices have been designed,...

In the present research, the navigation of a flexible needle into the human liver in the context of the robotic-assisted intraoperative treatment of the liver tumors, is reported. Cosserat (micropolar) elasticity is applied to describe the interaction between the needle and the human liver. The theory incorporates the local rotation of points and t...

This paper addresses the procedure for designing a novel mechatronic device for a semi-automatic saffron harvesting. The design process includes the kinematic analysis and synthesis of the proposed mechanism to fulfill a grasping and harvesting of saffron flower with a specific two-finger gripper design. Then, a cam mechanism and elastic spring ele...

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 p...

In this paper the constraint equations for two parallel robots for lower limb rehabilitation are derived. A parameterization method was used where the mobile platform coordinates (written with the Study parameters) were eliminated and the constraints were computed with Groebner bases. For the two parallel robots (RAISE, RECOVER ankle module) the de...

Cardiovascular stroke (CVS) is one of the leading causes of motor disabilities worldwide, and unfortunately the number of cases keeps increasing, and will continue to increase until personnel shortages will make the motor rehabilitation procedure to be more challenging. The main solution for this is the automation of the rehabilitation process thro...

The aim of this paper is to present design considerations regarding a parallel robotic system for gait rehabilitation of patients who have suffered a stroke. The paper focuses on how the design of the robot meets anthropometric and motion amplitude requirements. The robotic system is analyzed using commercially available software, thus proving the...

The paper presents the clinical assessment of a spherical robotic system for shoulder rehabilitation. Following the initial development of the experimental model of ASPIRE robot as part of a modular robotic system for upper limb rehabilitation, the authors performed a set of clinical trials on 18 patients with different neuro-muscular disorders aim...

The use of robotics in the field of rehabilitation became a modern request of the continuing developing society. The aim of this paper is to present an ankle rehabilitation solution by using a commercial off-the–shelf robotic system equipped with a special designed rehabilitation device, able to constrain the position of the leg of the patient and...

Among the components of the ANS (Autonomic Nervous System), electrodermal activity variations (EDA) are less involved in self-motion. However, from neuroanatomical point of view, EDA variations are essentially modulated by sympathetic endings that are interconnected with the vestibular system. The aim of the present study was to analyse the latenci...

This chapter deals with robotics for assisting patients in their recovery after stroke. The first section outlines the key physiotherapist movements that are needed in post-stroke treatment. Sets of experimental data are discussed for defining the main specifications for post-stroke rehabilitation devices. Then, a detailed overview is provided on t...

This book contains the papers of the 7th International Workshop on Medical and Service Robots (MESROB) that was planned to be held in Basel, Switzerland, in July 2020. Since the conference could not be held due to the worldwide Corona pandemic, the proceedings are published in this book and presentation of the accepted papers will be postponed to n...