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Citation

BibTex format

@article{Vrielink,
author = {Vrielink, TJCO and Pang, YW and Zhao, M and Lee, S-L and Darzi, A and Mylonas, GP},
title = {Surgical task-space optimisation of the CYCLOPS robotic system},
url = {http://arxiv.org/abs/1712.03720v1},
}

RIS format (EndNote, RefMan)

TY  - JOUR
AB - 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.
AU - Vrielink,TJCO
AU - Pang,YW
AU - Zhao,M
AU - Lee,S-L
AU - Darzi,A
AU - Mylonas,GP
TI - Surgical task-space optimisation of the CYCLOPS robotic system
UR - http://arxiv.org/abs/1712.03720v1
ER -