Advertisement

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)

Abstract

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.

Keywords

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

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Notes

Acknowledgment

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.

References

  1. 1.
    Balogh, J. et al: Hepatocellular carcinoma: a review, Journal of Hepatocellular Carcinoma, vol. 3, pp. 41-53, (2016)CrossRefGoogle Scholar
  2. 2.
    Bretschneider, T., Ricke, J., Gebauer, B., Streitparth, F.: Image-guided high-dose-rate brachytherapy of malignancies in various inner organs – technique, indications, and per-spectives. J Contemp Brachytherapy, 8(3), pp. 253–263 (2016)Google Scholar
  3. 3.
    Cauchy, F., Soubrane, O., Belghiti, J.: Liver resection for HCC: Patient’s selection and controversial scenarios, Best Practice & Research Clinical Gastroenterology vol. 28, pp. 881-896. (2014)Google Scholar
  4. 4.
    Vaida,C., Al Hajjar, N., Lazar, V., Graur, F., Burz, A., Elisei, R., Mois, E., Pisla, D.: Ro-botics in minimally invasive procedures: History, current trends and future challenges. In: the 6th Int. Conf. on Advancements of Medicine and Health Care through Technology – MediTech2018, 17-20 October (2018), in pressGoogle Scholar
  5. 5.
    Khan, A., et al: Assessment and optimization of liver volume before major hepatic resec-tion: Current guidelines and a narrative review, International Journal of Surgery vol. 52, pp. 74–81, (2018)CrossRefGoogle Scholar
  6. 6.
    Yang, Z.-W., et al: The efficacy and safety of long- versus short-interval transarterial che-moembolization in unresectable hepatocellular carcinoma, Journal of Cancer, vol. 9(21), pp. 4000-4008, (2018)CrossRefGoogle Scholar
  7. 7.
    Pascalau, V., et al: In vitro study of BSA gel/polyelectrolite complexes core shell micro-capsules encapsulating Doxorubicin for antitumoral targeted treatment, International Jour-nal of Polymeric Materials and Polymer Biomaterials, accepted for publication, (2019)Google Scholar
  8. 8.
    Arietta 70 for surgical oncology, http://www.hitachi-aloka.com/products/arietta-70/surgery/surgical-oncology, last visited on 02.01.2019
  9. 9.
    Pisla, D., Galdau, B., Covaciu, F., Vaida, C., Popescu, D., Plitea, N.: Safety issues in the development of the experimental model for an innovative medical parallel robot used in brachytherapy, Int. J. of Production Research, Vol. 55(3), pp. 684-699, (2016)CrossRefGoogle Scholar
  10. 10.
    Plitea, N., Pisla, D., Vaida, C., Gherman, B., Tucan, P.: PRoHep-LCT – Parallel robot for the minimally invasive treatment of liver cancer, patent pending, A01017/03.12.2018Google Scholar
  11. 11.
    Plitea, N., Lese, D., Pisla, D., Vaida, C: Structural design and kinematics of a new parallel reconfigurable robot, Robotics and CIM, Vol. 29, pp. 219-235, (2013)CrossRefGoogle Scholar

Copyright information

© 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

Personalised recommendations