ACKNOWLEDGEMENT

This work was supported by a grant of the Ministry of Research, Innovation and Digitization, CNCS/CCCDI - UEFISCDI, project number PCE171/2021 - Challenge within PNCDI III.

The First phase of the Challenge project concluded with the folloing results:

Four (4) conceptual solutions for parallel robots designed for SILS
Two (2) geometric models for two (2) of the conceptual solutions for parallel robots for SILS
Two (2) conceptual solutions for dexterous surgical instruments
The identification of state of the art mathematical models which are useful in mechanism analysis for SILS robots
AI/AR conceptual solution with all its functionalities
Conceptual solution for the comand architecture for the Challange robotic system

The Second phase of Challenge project concluded with the following results:

Two (2) reports regarding the geometric and kinematic models for each robot
Two (2) reports regarding the complete singularity analysis and workspace modelling (for each robotic structure) with stiffness and dexterity mapping (4+1 DOF module)
One (1) VR module for the control software
One (1) AI agent with suggestive behavior to react to unexpected events
One (1) software program with VR module and kinematic models
One (1) optimization report for the proposed robotic system

The third phase of Challenge project concluded with the following results:

One (1) experimental model of the Challenge robotic system
One (1) validation report based on tests and simulations with the Challenge system

National and international projects:

National Project of PED type, call PN-III-P2-2.1-PED-2021, code PN-III-P2-2.1-PED-2021-2790 - Acronym Enhance, entitled "Innovative and safe robotic system for improved, patient-oriented treatment of liver cancer" coordinated by the Technical University of Cluj-Napoca (project director: Prof. Doina Pisla).

International Project Horizon Europe (HORIZON), Call: HORIZON-EIC-2022-PATHFINDEROPEN-01 Code: 101099484 — Acronym: ARISTOTELE, entitled "Development of an innovative, AI-driven surgical device for Trans Urethral Resection of the Bladder (TURB)", coordinated by the CONSIGLIO NAZIONALE DELLE RICERCHE – Italy, with partners being the Technical University of Cluj-Napoca (responsable: Prof. Doina Pisla) and the Municipal Clinical Hospital Cluj-Napoca (responsable: Prof. Nicolae Crisan).

Project in a national competition with the Ministry of National Defense, entitled "Exoskeleton System for Human Augmentation", funded under number 1-PSCD/2022, implementation period: 2022-2025.

International Project within the PNRR/2022/C9/MCID/I8 competition: Developing a program to attract highly specialized human resources from abroad into research, development, and innovation activities, entitled "New smart and adaptive robotics solutions for personalized minimally invasive surgery in cancer treatment – ATHENA", CF 116/15.11.2022, funding contract number 760072/23.05.2023 coordinated by the Technical University of Cluj-Napoca.

International Project within the PNRR/2022/C9/MCID/I8 competition: Developing a program to attract highly specialized human resources from abroad into research, development, and innovation activities, titled "New frontiers in adaptive modular robotics for patient-centered medical rehabilitation – ASKLEPIOS", CF 121/15.11.2022, funding contract number 760071/23.05.2023 coordinated by the Technical University of Cluj-Napoca.

National Project within the competition "Operational Program Competitiveness 2014 – 2020, Axis 1 – Research, technological development, and innovation (RDI) in support of economic competitiveness and business development" entitled: "Improving the quality of life for patients through intelligent telerobotic systems for personalized treatment of neuromotor deficit – APOLLO", Funding Number: Nr.9/1.2.1 PTI ap.2/23.02.2023.

Planary lecture:

During the conference 8th International Conference on Advances of Medicine and Health Care through Technology (MediTech 2022), held in Cluj-Napoca, Romania, Prof. Dr. Eng. Doina Pisla presented (online) the plenary lecture entitled: "Innovations in Medical Robotics".(link)

During the conference 13th IFToMM International Symposium on Science of Mechanisms and Machines (SYROM 2022) and the XXV International Conference on Robotics (ROBOTICS 2022), held in Iasi, Romania, Prof. dr. ing. Doina Pisla presented the plenary lecture entitled:"Recent Advances in Medical Robotics".(link)

During the conference 32nd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD 2023), held in Bled, Slovenia, Prof. Dr. Ing. Doina Pisla presented the plenary lecture entitled:"Advances in Medical Robotics".(link)

During the conference 8th International Workshop on New Trends in Medical and Service Robots (MESROB 2023), held in Craiova, Romania, Prof. Dr. Ing. Doina Pisla presented (online) the plenary lecture entitled:"Recent Advances in Robotic Surgery for Cancer Treatment".(link)

During the conference “EMERALD Multiplier Event on: EMERALD Applied Research Teaching Methods for 3D printing in bio-mechatronics”, held in Cluj-Napoca, Romania, Prof. Dr. Ing. Doina Pisla presented the plenary lecture entitled:"Innovations in Medical Robotics".(link)

Workshops:

In period 20.09.2022 an international workshop was conducted (hybrid event) entitled: "Innovative Approaches in the Development of New Robotic Solutions for Single Incision Laparoscopic Surgery" in which, together with the project members, personalities from the medical world as well as foreign researchers participated: Giuseppe Carbone (University of Calabria, Italy), Damien Chablat (University of Nantes, France) and Jose Machado (University of Minho, Portugal).

In period 25.10.2023 an international workshop was conducted (hybrid event) entitled: "Research impact based on Challenge project results" in which, together with the project members, personalities from the medical world as well as foreign researchers participated: Damien Chablat (University of Nantes, France), Giuseppe Carbone (University of Calabria, Italy) and Husty Manfred (Universitatea of Innsbruch, Austria).

Awards:

Romanian Academy: On December 7, 2022, Prof. Doina Pisla, Prof. Nicolae Plitea, and Prof. Calin Vaida received the "Traian Vuia" Award from the Romanian Academy for 'Innovative Parallel Medical Robots' at the Romanian Academy's Hall in Bucharest..

The Gold Medal (awarded by Stefan cel Mare University in Suceava at the PRO INVENT invention fair on October 26-28, 2022, in Cluj-Napoca).

The Faculty of Automation and Computers Award (at the PRO INVENT invention fair on October 26-28, 2022, in Cluj-Napoca).

Certificate of Excellence and Gold Medal – Family of parallel modular robots with active translation joints for SILS surgery (PRO INVENT October 26-28, 2022, Cluj-Napoca).

Certificate of Excellence and Gold Medal – Family of modular robots for SILS surgery with kinematic constraint of the insertion point in the body (PRO INVENT October 26-28, 2022, Cluj-Napoca).

Excellence Award for Outstanding Results in the Field of Medical Bioengineering (awarded by the University of Medicine and Pharmacy Iasi).

Certificate of Excellence and Silver Medal – Family of modular robots for SILS surgery with kinematic constraint of the insertion point in the body (Inventica 22-24 June 2022, Iasi).

Certificate of Excellence and Silver Medal – Family of parallel modular robots with active translation joints for SILS surgery (Inventica 22-24 June 2022, Iasi).

Diploma - Gold Medal awarded for the invention entitled "Family of parallel modular robots with active translation joints for SILS surgery" (Traian Vuia International Exhibition of Inventions and Innovations, 10 October 2022, Timisoara).

Diploma - Gold Medal awarded for the invention entitled "Family of modular robots for SILS surgery with kinematic constraint of the insertion point in the body" (Traian Vuia International Exhibition of Inventions and Innovations, 10 October 2022, Timisoara).

Certificate of Excellence and the Golden Trophy for materializing and achieving patents in Robot-Assisted Laparoscopic Surgery and Rehabilitation (EUROINVENT 26-28 May 2022, Iasi).

Diploma - Silver Medal and Certificate of Attendance received for the patent entitled "Family of parallel modular robots with active translation joints for SILS surgery" (EUROINVENT 26-28 May 2022, Iasi).

Diploma - Silver Medal and Certificate of Attendance received for the patent entitled "Family of modular robots for SILS surgery with kinematic constraint of the insertion point in the body" (EUROINVENT 26-28 May 2022, Iasi).

Certificate of Excellence awarded by INFLPR (National Institute for Laser, Plasma, and Radiation Physics) at the invention fair EUROINVENT 26-28 May 2022.

Gold best research paper award for paper entitled: "Structural Study of a Robotic System for Sils Surgery", 8th edition of the international conference MESROB 2023, held in Craiova.

Distinction "Satit Chula Innovation Society Special Award" from Thailanda, for patent A00733/03.12.2021 "Family of parallel modular robots with active translation joints for SILS surgery".

Distinction "Special Award" awarded by the Politehnica University of Timisoara, for patent A00734/03.12.2021. "Family of modular robots for SILS surgery with kinematic constraint of the insertion point in the body".

Between November 5-10, 2023, the IFToMM (International Federation for the Promotion of Mechanism and Machine Science) World Congress was held in Tokyo, Japan. The Congress, now in its 16th edition, brought together more than 500 delegates from around the world in the field of Mechanism and Machine Science, at the congress Professor Doina Pîsla from the Technical University of Cluj-Napoca received the award: "IFToMM Dedicated Service Award", the most prestigious award offered to this highly scientific and professional organization, at the Awards Gala on November 8, 2023.

Patents:

"Family of modular parallel robots with active translation joints for SILS surgery", Authors: Pisla Doina, Birlescu Iosif, Vaida Calin, Tucan Paul, Gherman Bogdan, Plitea Nicolae, registration no. OSIM A00733/03.12.2021.

"Family of modular robots for SILS surgery with kinematic constraint at the insertion point", Authors: Vaida Calin, Pisla Doina, Birlescu Iosif, Gherman Bogdan, Tucan Paul, Plitea Nicolae, registration no. OSIM A00734/03.12.2021.