arXiv subjects

Ionut Zima

Publications and source records attributed to Ionut Zima.

4 recordsLinked to original sources

arXiv2026

Towards AI-enhanced control: a numerical technique for trajectory smoothing of a parallel robot for pancreatic surgery

The paper presents a numerical approach for the end-effector trajectory smoothing of a parallel robot designed for minimally invasive pancreatic surgery. The approach is tailored for real-time master-slave control architecture and uses a 3D space mouse for command input for velocity control. The trajectory smoothing is achieved by generating S-curves in the end-effector velocity fields, thus controlling the accelerations, which in turn reduces tissue trauma in the minimally invasive procedures. Real-time control is enabled by segmenting the S-curves based on the command inputs from the 3D space mouse. A special case is considered where the acceleration time is constant for all command inputs. Numeric results demonstrate stable transitions (without abrupt changes) in both the end-effector parameter space and in the active joints parameters, thereby validating the proposed approach. Further work aims to test the approach on an experimental model and integrate it into AI-based training modules.

cs.RO↗

arXiv2026

Control Architecture and experimental validation of a Novel Surgical Robotic Instrument

Minimally invasive surgery (MIS) reduces patient trauma and shortens recovery time; however, conventional laparoscopic instruments remain constrained by limited range of movements. This work presents the control architecture of a 4-DOF flexible laparoscopic instrument integrating distal bending, independent distal head rotation, shaft rotation, and a gripper, while maintaining a 10 mm diameter compatible with standard trocars. The actuation unit and SpaceMouse teleoperation are implemented on Raspberry Pi 5 with Motoron controllers. An analytical scissor-linkage model is derived and parameterized. The predicted jaw opening corresponds to CAD measurements (MAE 0.13{\textdegree}) and OptiTrack motion capture (MAE 1.43{\textdegree}). Integration with the ATHENA parallel robot is validated through a simulated pancreatic surgery procedure.

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arXiv2025

An innovative mixed reality approach for Robotics Surgery

Robotic-assisted procedures offer numerous advantages over traditional approaches, including improved dexterity, reduced fatigue, minimized trauma, and superior outcomes. However, the main challenge of these systems remains the poor visualization and perception of the surgical field. The goal of this paper is to provide an innovative approach concerning an application able to improve the surgical procedures offering assistance in both preplanning and intraoperative steps of the surgery. The system has been designed to offer a better understanding of the patient through techniques that provide medical images visualization, 3D anatomical structures perception and robotic planning. The application was designed to be intuitive and user friendly, providing an augmented reality experience through the Hololens 2 device. It was tested in laboratory conditions, yielding positive results.

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arXiv2024

The control architecture of a spherical robot for Minimally Invasive Surgery

Control systems used in Minimally Invasive Surgery (MIS) play a crucial role in ensuring preci-sion and safety throughout procedures. This paper presents a control architecture developed for a robotic system designed for MIS operations. The modular structure of the control system allows for compatibility with a range of procedures in abdominal and thoracic regions. The proposed control system, employing the master-slave concept, is presented alongside the experimental model. Functional validation is obtained by performing a Siemens NX simulation and comparing the results with several experimental runs using the experimental model of the robot. With its compact size and stiffness, the system holds promise for integration with other robotic systems. Future efforts will be dedicated to exploring and optimizing this potential collaboration to enhance the overall capabilities of robotic-assisted surgery.

cs.RO↗