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On the Design Optimization of a Parallel Robotic System for Liver Cancer Treatment

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Advances in Mechanism and Machine Science (IFToMM WC 2023)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 148))

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Abstract

The paper presents the design optimization of a parallel robotic system designed for liver cancer treatment (ProHep-LCT). Liver cancer and especially hepatocellular carcinoma is one of the deadliest types of cancers around the globe. Although curative treatments (i.e. surgery) are preferred, sometimes the patients are unable to survive such a complicated intervention. For this reason, minimally invasive approaches such as brachytherapy are used. Regarding the ProHep-LCT robotic system, the brachytherapy needle trajectory is controlled via an intraoperative ultrasound (guided by a robotic arm) which delivers the tumors coordinates to the second robotic arm of the ProHep-LCT which guides the brachytherapy needles. The paper focuses on the optimization of the developed instrument of the robotic system designed to actuate the ultrasound probe.

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Acknowledgments

This work was supported by a grant from the Ministry of Research, Innovation and Digitization, CNCS/CCCDI—UEFISCDI, project number PN-III-P2-2.1-PED-2021-2790 694PED—Enhance, within PNCDI III. This research was partially supported by the project 38 PFE in the frame of the program PDI-PFE-CDI 2021.

Author information

Authors and Affiliations

  1. CESTER, Technical University of Cluj-Napoca, 400114, Cluj-Napoca, Romania

    Bogdan Gherman, Andrei Caprariu, Paul Tucan, Calin Vaida, Adrian Pisla, Alin Horsia & Doina Pisla

  2. Iuliu Hatieganu” University of Medicine and Pharmacy, 400347, Cluj-Napoca, Romania

    Andra Ciocan, Corina Radu & Nadim Al Hajjar

Authors
  1. Bogdan Gherman
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  2. Andra Ciocan
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  3. Andrei Caprariu
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  4. Paul Tucan
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  5. Corina Radu
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  6. Calin Vaida
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  7. Adrian Pisla
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  8. Alin Horsia
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  9. Nadim Al Hajjar
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  10. Doina Pisla
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Corresponding author

Correspondence to Doina Pisla .

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Editors and Affiliations

  1. Department of Mechanical Engineering, Tokyo Institute of Technology, Meguro-ku, Tokyo, Japan

    Masafumi Okada

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Gherman, B. et al. (2023). On the Design Optimization of a Parallel Robotic System for Liver Cancer Treatment. In: Okada, M. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2023. Mechanisms and Machine Science, vol 148. Springer, Cham. https://doi.org/10.1007/978-3-031-45770-8_52

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