1 2 3 4 5 6 7 8

ROBOCORE - Robotic assisted prostate biopsy,
a high accuracy innovative method

Final Report

ROBOCORE final report Download PDF

Activity reports

Activity report, stage 1 - 2014

“Studies to define a parallel robotic structure optimized for prostate biopsy. Studies to define a conceptual virtual reality software for biopsy” Download PDF

Activity report, stage 2 - 2015

“Kinematic modeling of the innovative robotic structure. Development of the mechanical structure and the command system. Development of the virtual reality software.” Download PDF

Activity report, stage 3 - 2016

“The solution integration into the medical enviroment. Components manufacturing.” Download PDF

Raport de activitate etapa 4 - 2016

“Experimental model finalization. Experimental testing and robotic system validation” Download PDF


• Development of three possible conceptual robotic prostate biopsy structures; :BIO-PROS-1, BIO-PROS-2, BIO-PROS-2, PBS-BOT; (Download PDF)
• Defining an initial robotic assisted prostate biopsy protocol;
• Initial kinematic modeling of a possible parallel robot concept model for prostate biopsy;
• Conceptual virtual reality software architecture for biopsy;
• Simulation of the prostate parallel robots: BIO-PROS-1, BIO-PROS-2, BIO-PROS-3, PBS-BOT
• Initial 3D Modeling of the internal anatomical structures of the pelvis and its integration in RMN images; Integration of the 3D model into the TRUS images ; (Download PDF)
• A solution to control the robotic system for prostate biopsy. (Download PDF)
• Kinematic modeling of the robotic systems and computation for the operational working space of the systems;
• Development of the direct and inverse geometric models for each indivitual structure, and the analysis of the possible singularities;
• Development of a 3D moreling method to construct the prostatic region using MRI images;
• Development of a prototype software used to define markers on the 3D model;(Download PDF)
Virtual 3D enviroment that integrates the BIO-PROS-1 robot, a virtual human model, and other specific equipment.(Download PDF)


  1. N. Plitea, D. Pisla, C. Vaida, B. Gherman, P. Tucan, C. Govor, F. Covaciu: Family of innovative parallel robots for transperineal prostate biopsy, Patent pending: A/00191/13.03.2015; Notification PDF

  2. C. Vaida, D. Pisla, P. Tucan, N. Plitea, B. Gherman: Parallel robot for transperineal prostate biopsy. Patent pending 00761/26.10.2015

Scientific Publications

    1. D. Pisla, P. Tucan, B. Gherman, N. Crisan, I. Andras, C. Vaida, N. Plitea “Development of a parallel robotic system for transperineal biopsy of the prostate”, Mech. Sci., 8, 195-213, 2017.

    2. P. Tucan, F. Craciun, C. Vaida, B. Gherman, D. Pisla, C.Radu, N. Crisan, “Development of a Control System for an Innovative Parallel Robot Used in Prostate Biopsy”, DOI: 10.1109/CSCS.2017.17, 2017 21st International Conference on Control Systems and Computer Science (CSCS), 2017.

    3. P. Tucan, B. Gherman, N. Plitea, D. Pisla, “Design Of A Parallel Robot For Transperineal Prostate Biopsy”, Bulletin of the Transilvania University of Braşov, Series I: Engineering Sciences, Vol. 10 (59) No. 1 – 2017

    4. P. Tucan, C. Vaida, B. Gherman, F. Craciun, N. Plitea, I. Birlescu, D. Jucan, D. Pisla, “Control System of a Medical Parallel Robot for Transperineal Prostate Biopsy”, 21st International Conference on System Theory, Control and Computing October 19 - 21, 2017, Sinaia, Romania

    5. D. Pisla, I. Birlescu, C. Vaida, P. Tucan, B. Gherman, D. Popescu, N. Plitea, TOWARDS A FAIL-SAFE PROSTATE BIOPSY PARALLEL ROBOT USING ALGEBRAIC GEOMETRY, 24th International Conference on Production Research, Poznan, Polonia,2017.

    6. I. Birlescu , P. Tucan , B. Gherman , C. Vaida, N. Crisan, C. Radu, N. Plitea and D. Pisla, Kinematic Analysis for a Prostate Biopsy Parallel Robot using Study parameters,7th IFToMM International Workshop on Computational Kinematics(CK2017),Futuroscope-Poitiers, France, Mai, 2017

    7. S. Butnariu, T. Gîrbacia and F. Gîrbacia: An analysis on tissue deformation during robotic biopsy needle insertion, Proceedings of the 6-th edition of the IEEE International Conference on e-HealthandBioengineering, EHB 2017, 22-24 June 2017, Sinaia, Romania, pp. 213-216, doi: 10.1109/EHB.2017.7995399

    8. T. Gîrbacia, F. Gîrbacia: Towards improvement of perception of MRI/CT images as 3D geometry, Proceedings of 40th European Conference on Visual Perception ECVP 2017, abstract în curs de apariție în revista Perception.

    9. I. Andras, N. Crisan, PA Kadula, I. Coman: Neutrophil-to- lymphocyte ratio above 2 – advocate for lymph node dissection in prostate cancer, Acceptat pentru publicare în JBUON, vol 22(6),2017.

    10. I. Andras, N. Crisan, M. Gavrilita, RT. Coman, V. Nyberg, I. Coman: Every setback is a setup for a comeback: 3D laparoscopic radical prostatectomy after robotic radical prostatectomy, JBUON 2017; 22(1): 87-93, 2017.

    11. N. Crisan, I Andras, I Coman, The role of technology in the implementation and learning of minimally-invasive surgery, New trends in Medical and Service Robots, Springer ,DOI: 10.1007/978-3-319-59972-4_4, 2018.

    12. D. Pisla, B. Gherman, F. Girbacia, C. Vaida, S. Butnariu, T. Girbacia, N. Plitea: "Optimal Planning of Needle Insertion for Robotic-Assisted Prostate Biopsy", Advances in Intelligent Systems and Computing, Springer, Vol. 371, pp. 339-346, 2015

    13. D. Pisla, B. Gherman, P. Tucan, C. Vaida, C. Govor, N. Plitea: "On the Kinematics of an Innovative Parallel Robotic System for Transperineal Prostate Biopsy", IFToMM Congress, Taipei, Taiwan, 25-30 October 2015

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

    15. C. Vaida, D. Pisla, P. Tucan, B. Gherman, C. Govor, N. Plitea: "An innovative parallel robotic structure designed for transperineal prostate biopsy", IFToMM Congress, Taipei, Taiwan, 25-30 October 2015

    16. D. Pisla, P. Tucan, B. Gherman, N. Crisan, N. Plitea: "Graphical Simulation System for Functional Analysis of a Parallel Robot for Transperineal Prostate Biopsy", International Conference of Mechanical Engineering, ICOME 2015, 9-0 October 2015, accepted for publication in Current Solutions in Mechanical Engineering, ISBN: 978-3-03835-566-3, Applied Mechanics and Materials Vols. 823, Transh Tech Publications, to be published in 2015

    17. F. Girbacia, S. Butnariu, D. Voinea, B. Tolea, T. Girbacia, D. Pisla (2015): "A Virtual Reality System for Pre-Planning of Robotic-Assisted Prostate Biopsy", In Applied Mechanics and Materials, vol. 772, pp. 585-590. 2015

    18. T. Gîrbacia, F. Gîrbacia, M. Duguleana, E. Butila (2015): "Augmented Reality System for Training Robotic Prostate Biopsy Needle Guidance", Proceedings of the 10th International Conference on Virtual Learning, pp.254-258, 31 Octomber, Timisoara, Romania, 2015, ISSN: 1844-8933

    19. N. Crisan, I. Andras, C. Bungardean, I. Coman: "Ductal component - need for personalized follow-up after radical prostatectomy", accepted for publication in Journal of Balkan Union of Oncology vol.21, no. 1 or 2 , 2016 isssue

    20. I. Andras, N. Crisan, H. Logigan, F. Epure, I. Coman: "The oncological results at 2 years after robotic radical prostatectomy – the Romanian experience", accepted for publication in Central European Journal of Urology, 2016