Realizari


Realizari Stiintifice



    Rapoarte de etapa

      1. Raport etapa 1 - 2012


      2. Raport etapa 2 - 2013


      3. Raport etapa 3 - 2014


      4. Raport etapa 4 - 2015


      5. Raport etapa 5 - 2016


    Premii la saloanele de inventica:

      1. Premiul Ministerului Educatiei Nationale la Salonul de inventii si Inovatii INVENTIKA, 15-18 octombrie 2014, Bucuresti, Romania - (Dovada)


      2. Medalia de aur la Salonul de inventii si Inovatii INVENTIKA, 15-18 octombrie 2014, Bucuresti, Romania - (Dovada)


      3. Medalia de aur la The XVIII-th International Exhibition of Research, Innovation and Technological Transfer INVENTICA 2014, 2-4 iulie 2014, Iasi, Romania - (Dovada)


      4. Medalia de aur la Salonul International al Cercetarii, Inovarii si Inventicii "Pro Invent" - editia a XII-a, 19-21 martie 2014, Cluj-Napoca, Romania - (Dovada)

    Definirea a patru structuri robotice inovative cu arhitectura paralela optimizate pentru brahiterapie:

      1. Robot paralel pentru brahiterapie cu doua lanturi cinematice de ghidare a platformei (acului) de tip 2CRRU si CRU - BR1 - (Descarca PDF)


      2. Robot paralel pentru brahiterapie cu doua lanturi cinematice de ghidare ale platformei (acului) de tip 2CRRU si CYL-U - BR2 - (Descarca PDF)


      3. Robot paralel pentru brahiterapie cu doua lanturi cinematice de ghidare a platformei de tip CYL-U - BR3 - (Descarca PDF)


      4. Robot paralel pentru brahiterapie cu doua module paralele, unul de pozitionare si unul de orientare - BR4 - (Descarca PDF)

    Definirea protocolului de brahiterapie robotizata - CHANCE (Descarca PDF)

    Sinteza structurala a sistemelor robotizate cu arhitectura paralela BR1, BR2, BR3 si BR4

    Modelarea mediului virtual a salii pentru CT si a celei pentru brahiterapie (Descarca PDF)

    Modelarea cinematica a sistemelor robotizate cu arhitectura paralela BR1, BR2, BR3 si BR4

    Modelarea spatiului de lucru pentru structurile BR1 si BR4

    Proiectarea unui modul sterilizabil de alimentare automata cu ace (Descarca PDF)

    Definirea traiectoriei de miscare pentru robotul PARA-BRACHYROB (Descarca PDF)

    Simularea interventiei de brahiterapie in diferite zone ale corpului folosind structurile robotice dezvoltate:

      1. Insertia acului in zona renala cu ajutorul robotului paralel pentru brahiterapie cu doua lanturi cinematice de ghidare ale platformei de tip 2CRRU si CRU - BR1 - (Simulare)


      2. Insertia acului in zona hepatica cu ajutorul robotului paralel pentru brahiterapie cu doua lanturi cinematice de ghidare a platformei de tip CYL-U - BR3 - (Simulare)


      3. Insertia acului in zona pulmonara cu ajutorul robotului paralel pentru brahiterapie cu doua lanturi cinematice de ghidare a platformei de tip CYL-U - BR3 - (Simulare)


      4. Insertia acului in zona renala cu ajutorul robotului paralel pentru brahiterapie cu doua module paralele, unul de pozitionare si unul de orientare - BR4 - (Simulare)

    Schema de comanda a robotului PARA-BRACHYROB (Descarca PDF)

    Modelarea dinamica a sistemelor robotizate cu arhitectura paralela pentru brahiterapie (Descarca PDF)

    Modelarea pacientilor in mediul virtual cu exemplificare pe plamani si generarea traiectoriilor pentru acele de brahiterapie (Descarca PDF)

    Proiectarea sistemului de comanda pentru robotul PARA-BRACHYROB (Descarca PDF)

    Dezvoltarea modelului experimental al robotului BR-1 (Descarca PDF)

    Dezvoltarea modelului experimental al robotului BR-3 - PARA-BRACHYROB (Descarca PDF)

    Dezvoltarea modelului experimental al robotului BR-4 (Descarca PDF)

Publicatii in domeniu



    1. D. Pisla, B. Galdau, F. Covaciu, C. Vaida (c.a.), D. Popescu, N.Plitea, "Safety Issues in the Development of the Experimental Model for an Innovative Medical Parallel Robot used in Brachytherapy", International Journal of Production Research, 16 pp., 2016

    2. Vaida, C., Pisla, D., Schadlbauer, J., Husty, M., Plitea, N., "Kinematic Analysis of an Innovative Medical Parallel Robot using Study parameters", New Trends in Medical and Service Robots, pp 85-99, 2016

    3. Pisla D., Galdau B., Covaciu F., Vaida C., Popescu D., Plitea N., "Singularity Analysis and Control System of an Innovative Medical Parallel Robot", International Journal of Production Research, pp. 1-16, doi 10.1080/00207543.2016.1200153, 2016

    4. Plitea, N., Szilaghyi, A., Cocorean, D., Vaida, C., Pisla, D., "Inverse Dynamics And Simulation of a 5-Dof Modular Parallel Robot Used in Brachytherapy", Proceedings of the Romanian Academy, Series A, 17(1), pp. 67-75, 2016

    5. F. Gîrbacia, S. Butnariu, T. Gîrbacia, D. Pîslă, N. Plitea, "An evolutionary computational algorithm for trajectory planning of an innovative parallel robot for brachytherapy", New Advances in Mechanisms, Mechanical Transmissions and Robotics, 46, pp. 427-435, 2016

    6. Popescu, T., Kacso, A.C., Pisla, D., Kacso, G., "The next generation brachytherapy: Robotic Systems". J Contemp Brachyther, 7(6), pp. 510-514, 2016, doi: 10.5114/jcb.2015.56769

    7. J. Schadlbauer, C. Vaida, P. Tucan, D. Pisla, M.Husty, N. Plitea, "A complete analysis of singularities of a parallel medical robot", Advances in Robot Kinematics, Grasse, France, 27-30 iunie, 2016

    8. F. Gîrbacia, D. Pîslă, S. Butnariu, B. Gherman, T. Gîrbacia, N. Plitea, "An Evolutionary Computational Algorithm for Trajectory Planning of an Innovative Parallel Robot for Brachytherapy", MTM & Robotics 2016, in New Advances in Mechanisms, Mechanical Transmissions and Robotics, Vol 46 of Mechanisms and Machine Science pp 427-435, 2016.

    9. S. Butnariu, T. Gîrbacia, "An analysis on the prostate deformation during brachytherapy needle insertion", The IXth Product Design, Robotics, Advanced Mechanical&Mechatronic Systemsand Innovation Conference (PRASIC 2016), 10-11 nov. 2016, publicat în Bulletin of the Transilvania University of Brasov - Series I: Engineering Sciences

    10. N. Plitea, A. Szilaghyi, D. Cocorean, C. Vaida, D. Pisla, "Inverse dynamics and simulation of a 5-DOF modular parallel robot used in brachytherapy", Proceedins of the Romanian Aacademy, Series A, Volume 17, Number 1/2016, pp. 67-75, 2016

    11. B. Gherman, D. Pisla, G. Kacso, N. Plitea, "Kinematic Behavior of a Novel Medical Parallel Robot for Needle Placement", Advances in Intelligent Systems and Computing, Springer, Vol. 371, pp. 329-338, 2015

    12. D. Cocorean, N. Plitea, C. Vaida, D. Pisla, "Kinematic Behavior of 2-CRR-CYL-U parallel robot for brachytherapy", 14th World Congress in Mechanism and Machine Science, Taipei, Taiwan, 25-30 October, 2015

    13. F. Covaciu, D. Ani, B. Gherman, N. Plitea, D. Pisla, "Design and Control System of a Modular Parallel Robot for Medical Applications", Robotica & Management, ISSN: 1453-2069, Vol. 20., Nr.1, pp. 22-27, 2015

    14. C. Vaida, D. Pisla, J. Schadlbauer, M. Husty, N. Plitea, "Kinematic Analysis of an Innovative Medical Parallel Robot using Study parameters", 4th International Workshop on Medical and Service Robots, MESROB 2015, 8-10 July, Nantes, France, acceptat pentru publicare ca si capitol in cartea Springer; va apare in 2016

    15. D. Pisla, B. Galdau, F. Covaciu, C. Vaida, D. Popescu, N. Plitea, "Singularity Analysis and Control System of an Innovative Medical Parallel Robot", The 23rd International Conference on Production Research, Manila, Phillipines, 02-05 August 2015, acceptata in revista IJPR; va apare in 2016

    16. N. Plitea, A. Szilaghyi, D. Cocorean, C. Vaida, D. Pisla, "INVERSE DYNAMICS AND SIMULATION OF A 5-DOF MODULAR PARALLEL ROBOT USED IN BRACHYTHERAPY", Proceedings of the Romanian Academy, Series A,2015

    17. B. Gherman, D. Pisla, C. Vaida, N. Plitea, "ON WORKSPACE AND ACCURACY EVALUATION OF A PARALLEL ROBOT FOR NEEDLE PLACEMENT PROCEDURES", acceptat pentru publicare in revista: Proceedings of the Romanian Academy, Series A, 2015

    18. F. Covaciu, B. Gherman, C. Vaida, N. Plitea, D. Pisla, F. Puskas, "Control of a Medical Parallel Robot for Brachytherapy", Acta Electrotehnica, ISSN 1224-2497,Nr. 3, pp. 152-156, 2015

    19. D. Cocorean, C. Vaida, N. Plitea, D. Pisla, "MODULAR DESIGN OF A PARALLEL ROBOTIC STRUCTURE FOR BRACHYTHERAPY", ACTA TECHNICA NAPOCENSIS Series: Applied Mathematics, Mechanics, and Engineering Vol. 58, Issue II, pp. 245-250, June, 2015

    20. N. Plitea, A. Szilaghyi, D. Cocorean, D. Pisla, C. Vaida: "Inverse Dynamics and Simulation of a 5-DOF Modular Parallel Robot Used in Brachytherapy", Acceptata pentru publicare in revista: Proceedings of the Romanian Academy
      21. (ISI Factor de impact 2013: 1.115, Scor relativ de influenta 2013: 0.114)
    21. B. Galdau, D. Pisla, G. Kacso, D. Cocorean, C. Vaida, B. Gherman, N. Plitea : "New design of BR-1: An innovative parallel robot for brachytherapy", 2014 International Conference on Production Research - Africa, Europe and Middle East, ISBN: 978-973-662-978-5, Technical University of Cluj-Napoca, 2014 (ISI Proceedings)

    22. C. Vaida, D. Pisla, A. Szilaghyi, F. Covaciu, D. Cocorean, N. Plitea: "The Control System of a Parallel Robot for Brachytherapy", New Trends in Mechanism and Machine Science, Vol. From Fundamentals to Industrial Applications, pp. 563-571, 2015, DOI: 10.1007/978-3-319-09411-3_60

    23. T. Itul, B. Gherman, D. Cocorean, D. Pisla: "Inverse Dynamics of 2-DOF Parallel Mechanism Used for Orientation", New Trends in Mechanism and Machine Science, Vol. From Fundamentals to Industrial Applications, pp. 455-462, 2015, DOI: 10.1007/978-3-319-09411-3_48

    24. F. Girbacia, S. Butnariu, D. Talaba, D. Pisla: "Multi-objective optimization for brachytherapy robotic interventions", lucrare acceptata la publicare la 6th Gyor Symposium and 3rd Hungarian Polish and 1st Hungarian Romanian Joint Conference on Computational Intelligence, pp.29-34, Gyor 2014

    25. B. Gherman, N. Plitea, D. Pisla, C. Vaida: "Kinematic Modelling of a new 5-DOF (Axis) Parallel Robot used in Brachytherapy", Trimisa spre publicare la conferinta: The VIth International Conference on Robotics - ROBOTICS 2014 (ISI Proceedings)

    26. F. Girbacia, B. Gherman, S. Butnariu, N. Plitea, D. Talaba, D. Pisla: "Virtual Planning Of Needle Trajectories Using A Haptic Interface For A Brachytherapy Parallel Robot: an evaluation study", lucrare acceptata la publicare la The VIth International Conference on Robotics, Bucharest, ROBOTICS 2014 (ISI Proceedings)

    27. N. Plitea, B. Gherman, D. Cocorean, C. Vaida, D. Pisla: "Inverse Dynamic Modelling of PARA-BRACHYROB Parallel Robotic System for Brachyteharpy", Trimisa spre recenzie la revista Robotica, Cambridge University Press (ISI Factor de impact 0.894, Scor relativ de influenta: 0.41)

    28. N. Plitea, G. Kacso, D. Pisla, C. Vaida, B. Gherman, A. Szilaghyi, D. Cocorean: "Robotic Brachytherapy", Journal of Contemporary Brachytherapy, vol. 6, supplement 1, pp. 56-57, 2014

    29. D. Talaba: "Mechanical models and the mobility of robots and mechanisms", Robotica, Cambridge University Press, Vol. 33, no. 1, pp. 181-193, DOI: 10.1017/S0263574714000149
      30. , 2014, (ISI Factor de impact 0.894, Scor relativ de influenta: 0.41)
    30. B. Gherman, T. Girbacia, D. Cocorean, C. Vaida, S. Butnariu, N. Plitea, D. Talaba, D. Pisla: "Virtual Planning of Needle Guidance for a Parallel Robot used in Brachytherapy", International Workshop and Summer School on Medical and Service Robotics - MESROB 2014, 10-12 Iulie 2014, EPFL Lausanne, Elvetia

    31. B. Galdau, N. Plitea, C. Vaida, F. Covaciu, D. Pisla: "Design and control system of a parallel robot for brachytherapy", 2014 IEEE International Conference on Automation, Quality and Testing, Robotics - AQTR 2014, 22-24 Mai 2014, Cluj-Napoca, Romania, ISBN 978-1-4799-3732-5, http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6857873
      32. , (ISI Proceedings)
    32. N. Plitea, A. Szilaghyi, D. Pisla: "Kinematic Analysis of a new 5-DOF Modular Parallel Robot for Brachytherapy", Robotics and Computer Integrated Manufacturing Vol. 31, pp. 70-80, DOI: 10.1016/j.rcim.2014.07.005, 2015
      33. , (ISI Factor de impact 2014: 1.839, Scor relativ de influenta 2013: 0.46900)
    33. D. Pisla, N. Plitea, B. Galdau, C. Vaida, B. Gherman: "Innovative Approaches Regarding Robots for Brachytherapy", New Trends in Medical and Service Robots, Mechanisms and Machine Science, Vol. 20, pp. 63-78, ISBN: 978-3-319-05430-8, 2014.

    34. D. Pisla, D. Cocorean, C. Vaida, B. Gherman, A. Pisla, N. Plitea: "Application Oriented Design and Simulation of an Innovative Parallel Robot for Brachytherapy", Proceedings of the ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - IDETC/CIE 2014, 17 - 20 August 2014, Buffalo, New York, USA

    35. B. Gherman, N. Plitea, B. Galdau, C. Vaida, D. Pisla: "On the Kinematics of an Innovative Parallel Robot for Brachytherapy", The 14th International Symposium on Advances in Robot Kinematics - ARK 2014, 29 Iunie - 3 Iulie 2014, Ljubljana, Slovenia, Publicat in: Advances in Robot Kinematics, pp. 475-483, DOI 10.1007/978-3-319-06698-1_49, Print ISBN 978-3-319-06697-4, Online ISBN 978-3-319-06698-1, 2014

    36. N. Plitea, D. Pisla, C. Vaida, B. Gherman, A. Szilaghyi, B. Galdau, D. Cocorean, F. Covaciu: "On the Kinematics of a New Parallel Robot for Brachytherapy", Proceedings of the Romanian Academy - series A: Mathematics, Physics, Technical Sciences, Information Science, Vol. 15, No. 4, pp. 354-361, 2014, (ISI Factor de impact 2013: 1.115, Scor relativ de influenta 2013: 0.114)

    37. N. Plitea, C. Vaida, B. Gherman, A. Szilaghyi, B. Galdau, D. Cocorean, F. Covaciu, D. Pisla: "An innovative family of modular parallel robots for brachytherapy", The 11th IFToMM International Symposium on Science of Mechanisms and Machines - SYROM'2013, 11-12 November 2013, Brasov, Romania, published in Mechanisms and Machine Science, Vol. 18, pp. 69-79, ISBN:978-3-319-01844-7, DOI:10.1007/978-3-319-01845-4_7, 2014.

    38. T. Itul, B. Gherman, D. Pisla: "Comparative Study of Two 2-DOF Parallel Mechanisms Used for Orientation", The 11th IFToMM International Symposium on Science of Mechanisms and Machines - SYROM'2013, 11-12 November 2013, Brasov, Romania, published in Mechanisms and Machine Science, Vol. 18, pp. 145-157, ISBN:978-3-319-01844-7, DOI:10.1007/978-3-319-01845-4_7, 2014.

    39. C. Vaida, N. Plitea, D. Cocorean, D. Pisla: "Modeling of new spatial parallel structures with constant platform orientation using planar parallel modules", Proceedings of the Romanian Academy - series A: Mathematics, Physics, Technical Sciences, Information Science, Vol. 15, No. 1, pp. 43-51, ISSN 1454-9069, 2014, (ISI Factor de impact 2013: 1.115, Scor relativ de influenta 2013: 0.114) .

    40. N. Plitea, C. Vaida, B. Gherman, A. Szilaghyi, B. Galdau, D. Cocorean, F. Covaciu, D. Pisla: "Structural Analysis and Synthesis of Parallel Robots for Brachytherapy", New Trends in Medical and Service Robots - Theory and Integrated Applications, Series: Mechanisms and Machine Science, Vol. 16, ISBN 978-3-319-01591-0, DOI 10.1007/978-3-319-01592-7, 2014 (ISI Proceedings)

    41. A. Szilaghyi, D. Pisla, C. Vaida, B. Gyurka and N. Plitea: "Kinematics Simulation and Validation of a Medical Robot" - Proceedings of the Second Conference MeTrApp 2013, published in New Advances in Mechanisms, Transmissions and Applications, Mechanisms and Machine Science, Vol. 17, pp. 139-147, ISBN 978-94-007-7484-1, 2014.

    42. S. Butnariu, F. Girbacia: "Methodology for the identification of needles trajectories in robotic brachytherapy procedure using VR technology" - The 8Th International Conference "Optimization of the Intelligent Systems and Their Applications" - OPTIROB 2013, published in Applied Mechanics and Materials, Vol. 332, pp 503-508, Trans Tech Publications, Switzerland, doi:10.4028/www.scientific.net/AMM.332.503, ISSN: 1662-7482, 2013.

    43. S. Butnariu, F. Girbacia, A. Orman: "Methodology for 3D reconstruction of objects for teaching virtual restoration", International Journal of Computer Science Research and Application 2013, Vol. 03, Issue 01(Special Issue), pp. 16-21, ISSN 2012-9564, 2013.

    44. C. Vaida, B. Gherman, D. Pisla, N. Plitea: "A Spherical Robotic Arm for Instruments Positioning in Minimally Invasive Medical Applications" - Asian Initiatives in Mechanism and Machine Science, Proceedings of the 2nd IFToMM Asian Conference on Mechanism and Machine Science, Kindle Edition, ASIN: B00HDOD3VO, pp. 158-165, 2013

    45. B. Gherman, C. Vaida, N. Plitea, B. Gyurka, D. Pisla: "The experimental model of an active parallel surgical robot", Journal of "Quality - Access to Success", Vol. 13(S5), pp. 361-366, ISSN 1582-2559, 2012.

Brevete



  1. N. Plitea, D. Pisla, C. Vaida, B. Gherman, A. Szilaghyi, B. Galdau, D. Cocorean: Robot paralel pentru brahiterapie cu doua lanturi cinematice de ghidare a platformei (acului) de tip 2CRRU si CRU, Brevet publicat, RO129696-A2, (PDF);

  2. N. Plitea, D. Pisla, C. Vaida, B. Gherman, A. Szilaghyi, B. Galdau, D. Cocorean: Robot paralel pentru brahiterapie cu doua lanturi cinematice de ghidare ale platformei (acului) de tip 2CRRU si CYL-U, Brevet publicat, RO129697-A2, (PDF);

  3. N. Plitea, D. Pisla, C. Vaida, B. Gherman, A. Szilaghyi, B. Galdau, D. Cocorean: Robot paralel pentru brahiterapie cu doua lanturi cinematice de ghidare a platformei de tip CYL-U, Brevet publicat, RO129698-A2, (PDF);

  4. N. Plitea, D. Pisla, C. Vaida, B. Gherman, A. Szilaghyi, B. Galdau, D. Cocorean: Robot paralel pentru brahiterapie cu doua module paralele, unul de pozitionare si unul de orientare, Brevet publicat, RO129699-A2, (PDF);

Participari la activitati de training



  • Curs de training in Proiectare (Siemens PLM NX), firma ADA Computers - Cluj-Napoca, Romania, 28 Noiembrie 2014, Participanti: GHERMAN Bogdan, COCOREAN Dragos

  • Curs de formare Target Volume Determination From Imaging to Margins - Bangkok, Tailanda, 20-23 Octombrie 2013

  • Curs de training in Automatizare si Control (B&R Automation Studio) la firma ICA SYSTEMS - Sibiu, Romania, 14-17 Mai 2013, Participanti: GHERMAN Bogdan, COVACIU Florin