  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.
