Development of a Control System for an Innovative Parallel Robot Used in Laparoscopic Pancreatic Surgery

Doina Pisla, Doina Pisla, Andra Ciocan, Andra Ciocan, Bogdan Gherman, Diana Schlanger, Alexandru Pusca, Nadim Al Hajjar, Emil Mois, Andrei Cailean, Nicoleta Pop, Calin Vaida, Paul Tucan, Ionut Zima

2025

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.

Paper Citation

in Harvard Style

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, SciTePress, pages 243-250. DOI: 10.5220/0013708700003982

in Bibtex Style

@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},
}

in EndNote Style

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
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