Showing papers by "Doina Pisla published in 2021"
TL;DR: The paper presents the design optimization of the ASPIRE spherical parallel robot for shoulder rehabilitation following clinical evaluation and clinicians’ feedback.
Abstract: The paper presents the design optimization of the ASPIRE spherical parallel robot for shoulder rehabilitation following clinical evaluation and clinicians’ feedback. After the development of the robotic structure and the implementation of the control system, ASPIRE was prepared for clinical evaluation. A set of clinical trials was performed on 24 patients with different neurological disorders to obtain the patient and clinician acceptance of the rehabilitation system. During the clinical trials, the behavior of the robotic system was closely monitored and analyzed in order to improve its reliability and overall efficiency. Along with its reliability and efficiency, special attention was given to the safety characteristics during the rehabilitation task.
12 citations
TL;DR: In this paper, an internal torque monitoring system for ASPIRE is presented, which enables the use of strategies towards developing a HRI (human-robot interaction) system for the therapy.
Abstract: Robots for rehabilitation tasks require a high degree of safety for the interaction with both the patients and for the operators. In particular, high safety is a stable and intuitive control of the moving elements of the system combined with an external system of sensors able to monitor the position of every aspect of the rehabilitation system (operator, robot, and patient) and overcome in a certain measure all the events that may occur during the robotic rehabilitation procedure. This paper presents the development of an internal torque monitoring system for ASPIRE. This is a parallel robot designed for shoulder rehabilitation, which enables the use of strategies towards developing a HRI (human–robot interaction) system for the therapy. A complete analysis regarding the components of the robotic system is carried out with the purpose of determining the dynamic behavior of the system. Next, the proposed torque monitoring system is developed with respect to the previously obtained data. Several experimental tests are performed using healthy subjects being equipped with a series of biomedical sensors with the purpose of validating the proposed torque monitoring strategy and, at the same time, to satisfy the degree of safety that is requested by the medical procedure.
10 citations
TL;DR: In this article, the authors presented the RECOVER robotic system kinematics, further implemented into the control system, which is described in terms of architecture and functionality, through a battery of experimental tests, achieved in laboratory conditions using eight healthy subjects, the feasibility and functionality of the proposed robotic system have been validated.
Abstract: This paper is focused on the development of a control system, implemented on a parallel robot designed for the lower limb rehabilitation of bedridden stroke survivors. The paper presents the RECOVER robotic system kinematics, further implemented into the control system, which is described in terms of architecture and functionality. Through a battery of experimental tests, achieved in laboratory conditions using eight healthy subjects, the feasibility and functionality of the proposed robotic system have been validated, and the overall performance of the control system has been studied. The range of motion of each targeted joint has been recorded using a commercially available external sensor system. The kinematic parameters, namely the patient’s joints velocities and accelerations have been recorded and compared to the ones obtained using the virtual model, yielding a very small difference between them, which provides a validation of the RECOVER initial design, both in terms of mechanical construction and control system.
8 citations
20 Oct 2021
TL;DR: In this paper, the authors present some preliminary considerations in the control design of an innovative robotic system for single incision laparoscopic surgery (SILS), with emphasis on the use of the medical instruments which are the tools that interact directly with the patient body.
Abstract: This paper presents some preliminary considerations in the control design of an innovative robotic system for Single Incision Laparoscopic Surgery (SILS). The particularities of this type of minimally invasive surgery are detailed with emphasis on the use of the medical instruments which are the tools that interact directly with the patient body. A conceptual architecture for the active instruments and their manipulation strategy is defined aiming to increase their dexterity and workspace in confined spaces. The architecture of the system, with emphasis on the control solution is presented as a three levels structure. The control architecture respects the “zero autonomy” principle imposed by the latest standards in surgical robotics, to ensure the safety of the patient, with respect to any automatic decision a device might act upon.
6 citations
TL;DR: In this paper, three robotic devices have been designed, called ParReEx elbow, parReEx wrist, and ASPIRE, which were designed to improve upper-limb medical recovery (shoulder, elbow, forearm, and wrist).
Abstract: The use of robotic systems in physical rehabilitation protocols has become increasingly attractive and has been given more focus in the last decade as a result of the high prevalence of motor deficits in the population, which is linked to an overburdened healthcare system. In accordance with current trends, three robotic devices have been designed, called ParReEx Elbow, ParReEx Wrist, and ASPIRE, which were designed to improve upper-limb medical recovery (shoulder, elbow, forearm, and wrist). The three automated systems were tested in a hospital setting with 23 patients (12 men and 11 women) suffering from motor deficits caused by various neurological diseases such as stroke, Parkinson’s disease, and amyotrophic lateral sclerosis (ALS). The patients were divided into three groups based on their pathology (vascular, extrapyramidal, and neuromuscular). Objective clinical measures, such as the Medical Research Council (MRC) scale, goniometry, and dynamometry, were used to compare pre- and post-rehabilitation assessments for both robotic-aided and manual physical rehabilitation therapy. The results of these tests showed that, with the exception of a few minor differences in muscular strength recovery, the robotic-assisted rehabilitation methods performed equally as well as the manual techniques, though only minor improvements were validated during short-term rehabilitation. The greatest achievements were obtained in the goniometric analysis where some rehabilitation amplitudes increased by over 40% in the vascular group, but the same analysis returned regressions in the neuromuscular group. The MRC scale analysis returned no significant differences, with most regressions occurring in the neuromuscular group. The dynamometric analysis mostly returned improvements, but the highest value evolution was 19.07%, which also in the vascular group. While the results were encouraging, more research is needed with a larger sample size and a longer study period in order to provide more information regarding the efficacy of both rehabilitation methods in neurological illnesses.
6 citations
TL;DR: In this article, a flexible needle was used for intraoperative treatment of the liver tumors using Cosserat elasticity to describe the interaction between the needle and the human liver.
Abstract: In the present research, the navigation of a flexible needle into the human liver in the context of the robotic-assisted intraoperative treatment of the liver tumors, is reported. Cosserat (micropolar) elasticity is applied to describe the interaction between the needle and the human liver. The theory incorporates the local rotation of points and the couple stress (a torque per unit area) as well as the force stress (force per unit area) representing the chiral features of the human liver. To predict the deformation of the needle and the liver, the elastic properties of the human liver have been evaluated. Outcomes reveal that considering smaller deformations of the needle and the liver results in better needle navigation mechanism. The needle geometry can enhance the penetration.
3 citations
20 Oct 2021
TL;DR: In this article, the inverse dynamic model for the ParReEx-wrist parallel robot designed for wrist rehabilitation was developed based on the principle of virtual work using the lumped masses model.
Abstract: Due to current limitations in the treatment of the upper limb post-stroke patients, there is a powerful trend in the development of rehabilitation robotic systems. The paper focuses on the development of the inverse dynamic model for the ParReEx-wrist parallel robot designed for the wrist rehabilitation. The model is developed based on the principle of virtual work using the lumped masses model. The derived model offers the possibility of a complex study for ParReEx-wrist robot to evaluate its dynamic capabilities and to generate the assistive control algorithms.
1 citations
17 Mar 2021
TL;DR: Numerical simulations are achieved showing optimal kinematic behavior, which validates the robotic system for the medical procedure, and the development of control system and the experimental model are presented.
Abstract: The paper presents numerical simulations and the modular control system of an innovative parallel robot designed for the targeted treatment of hepatic tumors. The robotic system is composed of two modules (one for needle insertion and the second one for ultrasound probe manipulation), therefore the input-output kinematic equations are optimized and used in the control strategies to ensure adequate control with respect to the medical procedure requirements. Numerical simulations are achieved showing optimal kinematic behavior, which in turn validates the robotic system for the medical procedure. The development of control system and the experimental model are also presented.
1 citations
21 Jun 2021
TL;DR: The design process includes the kinematic analysis and synthesis of the proposed mechanism to fulfill a grasping and harvesting of saffron flower with a specific two-finger gripper design to provide a shaking movement that achieves the splitting of the flower from its steam and a consequent flower harvesting.
Abstract: This paper addresses the procedure for designing a novel mechatronic device for a semi-automatic saffron harvesting. The design process includes the kinematic analysis and synthesis of the proposed mechanism to fulfill a grasping and harvesting of saffron flower with a specific two-finger gripper design. Then, a cam mechanism and elastic spring elements are designed to provide a shaking movement that achieves the splitting of the flower from its steam and a consequent flower harvesting. This is followed by a suction system for collecting and storing the harvested flowers. A 3D printed prototype is reported and preliminarily tested for validating the engineering feasibility and effectiveness of the proposed design solution.
1 citations
20 Oct 2021
TL;DR: In this article, the authors present a methodology for selecting a suitable collaborative robot to be integrated into the isolation booth, based on a set of predetermined requirements and the obstacle collision forces of the selected robot are measured to assess its suitability for the required task.
Abstract: Tuberculosis is considered one of the most lethal infectious diseases. One of the common tuberculosis diagnosis methods is sputum testing. The sputum collection process represents a risk for the medical personnel who can get infected during the procedure, which is why an automated solution within an isolation booth is preferred. The paper’s goal is to present a methodology for selecting a suitable collaborative robot to be integrated into the isolation booth, based on a set of predetermined requirements. The obstacle collision forces of the selected robot are measured to assess its suitability for the required task.
1 citations
28 Oct 2021
TL;DR: In this paper, a learning management system (LMS) developed and customized as an interactive on-line platform that can bridge the gap between generations transferring the knowledge from senior experts to developing companies is presented.
Abstract: The current amount of information available on different media and the strong interdisciplinarity of many technological processes makes it difficult for the younger generation to learn in depth and to understand the requirements of a specific process. A high level of expertise on every technological process exists at the level of senior experts (engineers aged over 50 and up to 75) which are willing to share this in a proper framework. The paper presents a learning management system (LMS) developed and customized as an interactive on-line platform that can bridge the gap between generations transferring the knowledge from senior experts to developing companies. This comprehensive platform provides experts the tools and resources to communicate and the companies the means to obtain relevant and personalized information achieving both a comprehensive industrial development and support and purpose for the senior experts.