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The CYCLOPS is a cable-driven parallel mechanism used for minimally invasiveapplications, with the ability to be customised to different surgical needs;allowing it to be made procedure- and patient-specific. For adequateoptimisation, however, appropriate data on clinical constraints and task-spaceis required. Whereas the former can be provided through preoperative planningand imaging, the latter remains a problem, primarily for highly dexterous MISsystems. The current work focuses on the development of a task-spaceoptimisation method for the CYCLOPS system and the development of a datacollection method in a simulation environment for minimally invasivetask-spaces. The same data collection method can be used for the development ofother minimally invasive platforms. A case-study is used to illustrate thedeveloped method for Endoscopic Submucosal Dissection (ESD). This paper showsthat using this method, the system can be succesfully optimised for thisapplication.

Surgical task-space optimisation of the CYCLOPS robotic system