Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Surgical task-space optimisation of the CYCLOPS robotic system   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.

24
The categories of this paper are: dg-ga
15
The categories of this paper are: nucl-ex
30
The categories of this paper are: q-alg
8
The categories of this paper are: hep-ex
31
The categories of this paper are: ao-sci
23
The categories of this paper are: solv-int
33
The categories of this paper are: plasm-ph
29
The categories of this paper are: funct-an
5
The categories of this paper are: gr-qc
0
The categories of this paper are: hep-ph
10
The categories of this paper are: q-bio
21
The categories of this paper are: adap-org
25
The categories of this paper are: patt-sol
16
The categories of this paper are: stat
12
The categories of this paper are: nucl-th
20
The categories of this paper are: acc-phys