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Authors: Doina Pisla 1 ; 2 ; Andra Ciocan 3 ; 1 ; Bogdan Gherman 1 ; Diana Schlanger 3 ; Alexandru Pusca 1 ; Nadim Al Hajjar 3 ; Emil Mois 3 ; Andrei Cailean 1 ; Nicoleta Pop 1 ; Calin Vaida 1 ; Paul Tucan 1 and Ionut Zima 1

Affiliations: 1 CESTER Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, Memorandumului 28, 400114 Cluj-Napoca, Romania ; 2 Technical Sciences Academy of Romania, B-dul Dacia, 26, 030167 Bucharest, Romania ; 3 Department of Surgery, “Iuliu Hatieganu” University of Medicine and Pharmacy, 400347 Cluj-Napoca, Romania

Keyword(s): Parallel Robot, Master-Slave, Control System, Minimally Invasive Pancreatic Surgery, Robotic Assisted.

Abstract: This paper presents the development of the control architecture for an innovative parallel robot, designed to assist surgeons during the minimally invasive pancreatic cancer surgery. Based on the defined medical protocol and surgeon requirements. The robot was designed to serve as a surgical assistant and to manipulate a third active instrument. The system features a 3-DOF parallel active module coupled to a passive spherical module guiding the instrument through a Remote Center of Motion (RCM). The master-slave control architecture enables surgeons to operate the robot using a 3D Space Mouse or haptic device (Omega.7). The system automatically calculates RCM position using IMU sensors, validated through optical tracking.

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Paper citation in several formats:
Pisla, D., Ciocan, A., Gherman, B., Schlanger, D., Pusca, A., Al Hajjar, N., Mois, E., Cailean, A., Pop, N., Vaida, C., Tucan, P. and Zima, I. (2025). Development of a Control System for an Innovative Parallel Robot Used in Laparoscopic Pancreatic Surgery. In Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-770-2; ISSN 2184-2809, SciTePress, pages 243-250. DOI: 10.5220/0013708700003982

@conference{icinco25,
author={Doina Pisla and Andra Ciocan and Bogdan Gherman and Diana Schlanger and Alexandru Pusca and Nadim {Al Hajjar} and Emil Mois and Andrei Cailean and Nicoleta Pop and Calin Vaida and Paul Tucan and Ionut Zima},
title={Development of a Control System for an Innovative Parallel Robot Used in Laparoscopic Pancreatic Surgery},
booktitle={Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2025},
pages={243-250},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013708700003982},
isbn={978-989-758-770-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Development of a Control System for an Innovative Parallel Robot Used in Laparoscopic Pancreatic Surgery
SN - 978-989-758-770-2
IS - 2184-2809
AU - Pisla, D.
AU - Ciocan, A.
AU - Gherman, B.
AU - Schlanger, D.
AU - Pusca, A.
AU - Al Hajjar, N.
AU - Mois, E.
AU - Cailean, A.
AU - Pop, N.
AU - Vaida, C.
AU - Tucan, P.
AU - Zima, I.
PY - 2025
SP - 243
EP - 250
DO - 10.5220/0013708700003982
PB - SciTePress

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