Name
Abstract | ||
|---|---|---|
The CYCLOPS is a cable-driven parallel mechanism used for minimally invasive applications, with the ability to be customised to different surgical needs; allowing it to be made procedure- and patient-specific. For adequate optimisation, however, appropriate data on clinical constraints and task-space is required. Whereas the former can be provided through preoperative planning and imaging, the latter remains a problem, primarily for highly dexterous MIS systems. The current work focuses on the development of a task-space optimisation method for the CYCLOPS system and the development of a data collection method in a simulation environment for minimally invasive task-spaces. The same data collection method can be used for the development of other minimally invasive platforms. A case-study is used to illustrate the developed method for Endoscopic Submucosal Dissection (ESD). This paper shows that using this method, the system can be succesfully optimised for this application. |
Year | Venue | Field |
|---|---|---|
2017 | arXiv: Robotics | Robotic systems,Data collection,Cyclops,Control engineering,Engineering,Endoscopic submucosal dissection |
DocType | Volume | Citations |
Journal | abs/1712.03720 | 0 |
PageRank | References | Authors |
0.34 | 0 | 6 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| T. J. C. Oude Vrielink | 1 | 0 | 0.34 |
| Y. W. Pang | 2 | 0 | 0.34 |
| M. Zhao | 3 | 43 | 3.01 |
| Su-Lin Lee | 4 | 92 | 18.76 |
| Ara Darzi | 5 | 496 | 58.41 |
| George P. Mylonas | 6 | 212 | 22.01 |