Kinematic analysis of a new parallel robotic system for minimally invasive therapy of non-resecable hepatic tumors

  • Calin Vaida
  • Paul Tucan
  • Nicolae Plitea
  • Viorela Lazar
  • Nadim Al Hajjar
  • Doina PislaEmail author
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


The paper presents the conceptual development of a new parallel ro-botic system for the local intraoperatory treatment of non-resecable live tumors. A new structure with two independent parallel arms is introduced and the geo-metrical model of one of the arms is presented in detail. The workspace analysis shows the robot capability of targeting any area of the liver and provides some insides regarding the relative robot-patient positioning at the start of the procedure.


Robotic assisted minimally invasive procedure Kinematics Con-ceptual Design Hepatocellular Carcinoma 


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This work was supported by a grant of the Romanian Ministry of Research and Innovation PCCCDI – UEFISCDI, project number PN-III-P1-1.2-PCCDI-2017-0221/ 59PCCDI/2018 (IMPROVE), within PNCDI III.


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.CESTERTechnical University of Cluj-NapocaCluj-NapocaRomania
  2. 2.Iuliu HatieganuUniversity of Medicine and Pharmacy Cluj-NapocaCluj-NapocaRomania

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