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ROBOCORE - Biopsia prostatei asistata robotic,
o metoda inovativa de mare precizie

Raport final

Raportul final al proiectului ROBOCORE Download PDF

Rapoarte de etapa

Raport de activitate etapa 1 - 2014

“Studii pentru definirea unei structuri robotice paralele optimizate pentru biopsia prostatei. Studii pentru definirea conceptuală a software-ului de realitate virtuala pentru biopsie” Download PDF

Raport de activitate etapa 2 - 2015

“Modelarea cinematică a structurii robotice inovative. Proiectarea structurii mecanice şi dezvoltarea sistemului de comandă. Dezvoltarea software-ului pentru realitate virtuală” Download PDF

Raport de activitate etapa 3 - 2016

“Integrarea soluțiilor robotizate in mediul medical. Realizarea componentelor modelului experimental.” Download PDF

Raport de activitate etapa 4 - 2016

“Finalizarea modelului experimental. Testarea experimentală și validarea soluției” Download PDF


Realizări

•Dezvoltarea a patru structuri robotice conceptuale posibile pentru biopsia prostatei:BIO-PROS-1, BIO-PROS-2, BIO-PROS-2, PBS-BOT; (Download PDF)
• Definirea unui protocol iniţial pentru biopsia prostatică asistată robotic;
• Modelarea cinematică iniţială a unei posibile variante de robot paralel pentru biopsia prostatei;
• Simularea robotilor definiti pentru biopsia prostatei: BIO-PROS-1, BIO-PROS-2, BIO-PROS-3, PBS-BOT
• Arhitectura conceptuală a software-ului de realitate virtuala pentru biopsie;
• Modelarea 3D iniţială a structurilor anatomice interne din zona pelviană şi integrarea acesteia in imaginile TRUS; (Download PDF)
• Soluţie pentru sistemul de comandă al sistemului robotizat pentru biopsia prostatei. (Download PDF)
• Modelarea cinematica a sistemelor robotice si generarea spatiului de lucru operational pentru aceste sisteme.
• Realizarea modelului geometric direct si invers pentru fiecare structura robotica in parte, precum si studiol posibilelor configuratii singulare ale robotilor
• Dezvoltarea unei metodologii pentru modelarea 3D a zonelor anatomice de interes din imagini RMN si validarea acestei metodologii pentru reconstructia prostatei.
• Software prototip pentru definirea unor puncte de reper in cadrul modelului 3D.
• Mediu virtual 3D care integreaza structura robotica BIO-PROS-1, un model uman virtual si alte echipamente specifice.
• Metoda de optimizarea a modelarii 3D prin adaugarea unui modul ce permite reconstructia suprafetelor netede.
• Dezvoltarea algoritmului Iterative Closest Point, care minimizează distanța medie dintre punctele uneia dintre două suprafețe
• Algoritm pentru generarea traiectoriilor robotului, utilizând datele medicale și cele obținute în cadrul aplicației de Realitate Augmentată.
• Proiectarea constructivă a robotului BIO-PROS-1.
• Interfața utilizator pentru sistemul robotic.
• Asamblarea structurii mecanice a sistemului robotului BIO-PROS 1.
• Integrarea componentelor electronice pe sistemul robotic BIO-PROS 1.
• Dezvoltarea si integrarea algoritmilor de control ai sistemului robotic.
• Realizarea testelor experimentale.


Brevete

  1. N. Plitea, D. Pisla, C. Vaida, B. Gherman, P. Tucan, C. Govor, F. Covaciu: Familie de roboti paraleli pentru biopsia transperineala a prostatei, In curs de brevetare: A/00191/13.03.2015; Notificare cerere de brevet PDF

  2. C. Vaida, D. Pisla, P. Tucan, N. Plitea, B. Gherman: Robot paralel pentru biopsia transperineală a prostatei. In curs de brevetare

Publicaţii

    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. B. Gherman, N. Plitea, D. Pisla: “An Innovative Parallel Robotic System for Transperineal Prostate Biopsy“, New Trends in Mechanism and Machine Science, Mechanisms and Machine Science, 43, 421-429, 2017.

    13. D. Pisla, D. Ani, C. Vaida, B. Gherman, P. Tucan, N. Plitea:“BIO-PROS-2: a parallel robotic structure for transperineal prostate biopsy”, International Conference on Automation, Quality and Testing, Robotics AQTR, May 19-21 2016.

    14. C. Vaida, D. Pisla, F. Covaciu, B. Gherman, A. Pisla, N. Plitea : “Development of a Control System for a HEXA Parallel Robot”, International Conference on Automation, Quality and Testing, Robotics AQTR, mai 19-21 2016.

    15. D. Pisla, F. Covaciu, B. Gherman, C. Vaida, N. plitea: “A NEW SERIAL COMMUNICATION PROTOCOL FOR THE CONTROL OFA MEDICAL PARALLEL ROBOT”, ACTA TECHNICA NAPOCENSIS, Applied Mathematics, Mechanics, and Engineering, Vol. 59, Issue 1, 2016. pp7-16

    16. F. Girbacia, D. Pisla, S. Butnariu, B. Gherman, T. Girbacia, N. Plitea: “An Evolutionary Computational Algorithm for Trajectory Planning of an Innovative Parallel Robot for Brachytherapy”, MTM & Robotics 2016, Aachen, Germania, 26-27 octombrie 2016.

    17. T. Girbacia, F. Girbacia, S. Butnariu, D. Pisla “DEVELOPEMENT OF A VIRTUAL REALITYAPPLICATION FOR PLANNING OFROBOTIC PROSTATE TRANSPERINEALBIOPSY”, 9th Product Design, Robotics, Advanced Mechanical & Mechatronic Systems and Innovation Conference, noiembrie 10-11, 2016, Brasov, Romania.

    18. F. Girbacia, R. Boboc, B. Gherman, T. Girbacia, D. Pisla: “Planning of Needle Insertion for Robotic-assisted ProstateBiopsy in Augmented Reality using RGB-D Camera”, IFTOMM/IEEE/EUROBOTICS 25th International Conference on Robotics in Alpe-Adria-Danube Region RAAD 2016, Belgrad, iunie 30 - iulie 2, 2016.

    19. C. Vaida, I. Birlescu, N. Plitea, N. Crisan, D. Pisla: “Design of a Needle Insertion Module for Robotic Assisted Transperineal Prostate Biopsy”. 5th International Workshop on Medical and Service Robots, MESROB 2016, Gratz Austria, 4-6 Iulie 2016.

    20. D. Pisla, M. Huta, C. Vaida, G. Batin, C. Popa, F. Graur, C. Feniser, N. Plitea : “DEVELOPMENT OF AN INNOVATIVE NEEDLE INSERTION MODULE USED IN TRANSPERINEAL ROBOTIC-ASSISTED BIOPSY”. ICPR 2016, 4th International Conference on Quality and Innovation in Engineering and Management, Cluj-Napoca, 25-30 Iulie 2016.

    21. Gîrbacia, T., Gîrbacia, F., Duguleana, M., Butilă, E.: Augmented Reality System for Training Robotic Prostate Biopsy Needle Guidance. In: the 10th International Conference on Virtual Learning, pp. 254-258 (2015)

    22. I. Andras „The role of inflammation in the decision making for bladder tumors”, 3rd Athens Forum on Robotic Surgery in Urology, Athens, Greece, 27-28 May 2016

    23. I. Andras „3D laparoscopic radical cystoprostatectomy – step by step”, Zilele Urologiei Satmarene, Satu-Mare, Romania, 2-4 iunie 2016

    24. I. Andras „MRI-ultrasound fusion guided prostate biopsy – initial experience”, Zilele Urologiei Satmarene, Satu-Mare, Romania, 2-4 iunie 2016

    25. I. Andras, N. Crisan, I. Coman „MRI-ultrasound fusion guided transrectal prostate biopsy”, Congresul National Roman de Urologie, Bucuresti, Romania, 8-11 June 2016

    26. I. Andras, N. Crisan, I. Coman „3D laparoscopic radical cystoprostatectomy with pelvic lymph node dissection – step by step”, Congresul National Roman de Urologie, Bucuresti, Romania, 8-11 June 2016

    27. N. Crisan, I. Andras, I. Coman „The Role of Technology in the Implementation and Learning of Minimally-Invasive Surgery”, 5th International Workshop on Medical and Service Robots, Graz, Austria, 4-6 Iulie 2016

    28. I. Andras „MRI-guided focal therapy: does it make sense?”, The International Conference Progress in Uro-Oncology 7th Edition, Cluj-Napoca, Romania, 29-30 Septembrie 2016

    29. N. Crisan „Salvage rdical prostatectomy: robotic approach”, The International Conference Progress in Uro-Oncology 7th Edition, Cluj-Napoca, Romania, 29-30 Septembrie 2016

    30. I. Andras, N. Crisan, I. Coman „The role of 3D vision in performing laparoscopic radical prostatectomy”, Central European Meeting, Vienna, Austria, Octombrie 2016

    31. I. Andras, N. Crisan, R.T. Coman, H. Logigan, F. Epure, D.V. Stanca, I. Coman „Oncological results at 2 years after robotic radical prostatectomy – the Romanian experience”, Cent European J Urol.69(1):48-52, 2016

    32. I. Andras, N. Crisan, M. Gavrilita, R.T Coman, V. Nyberg, I. Coman „Every setback is a setup for a comeback: 3D laparoscopic radical prostatectomy after robotic radical prostatectomy”, acceptat pentru publicare în Journal of Balkan Union of Oncology 2017

    33. I. Andraş, N. Crişan, A. Tamaş-Szora, R. Morar, D. Feier, A. Leibovici, S. Dudea, R.T. Coman, F. Epure, V. Simon, I. Coman „MRI-TRUS Fusion Guided Prostate Biopsy – Initial Experience And A Review Of The Literature”, acceptat pentru publicare in Revista Romana de Urologie 2016

    34. 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

    35. 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 octombrie 2015

    36. 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 octombrie 2015

    37. 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, acceptata la publicare in Current Solutions in Mechanical Engineering, ISBN: 978-3-03835-566-3, Applied Mechanics and Materials Vols. 823, Transh Tech Publications, se va publica in 2015

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

    39. 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