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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 李宇修 | zh_TW |
| dc.contributor.advisor | Yu-Hsiu Lee | en |
| dc.contributor.author | 薛竣元 | zh_TW |
| dc.contributor.author | Chun-Yuan Hsueh | en |
| dc.date.accessioned | 2026-01-13T16:09:59Z | - |
| dc.date.available | 2026-01-14 | - |
| dc.date.copyright | 2026-01-13 | - |
| dc.date.issued | 2025 | - |
| dc.date.submitted | 2025-09-02 | - |
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/101271 | - |
| dc.description.abstract | 本研究旨在開發一套主動式眼球手術仿體系統，以模擬真實眼科手術環境，評估眼科手術機器人的手術表現。仿體系統包含鞏膜仿體、仿生眼球機構及三軸並聯式可動平台三大部分。鞏膜仿體以PDMS材料製作，具備與人體鞏膜相近的彈性特性，並透過三自由度旋轉機構與扭力彈簧模擬眼球於手術器械作用下的生理旋轉運動，且透過編碼器記錄旋轉角度以量化施術表現。可動平台則採用Tripod並聯式機構設計，透過線性馬達驅動，實現兩個旋轉自由度與一平移自由度，以模擬眼球於手術期間的自主運動。透過引入頻譜分析改善數據驅動迭代學習控制的學習濾波器設計，平台能有效追蹤生理運動軌跡。實驗結果驗證了此控制方法實踐於眼球仿體可動平台之可行性，而鞏膜仿體與仿生眼球機構則重現了眼球組織的物力特性，並具備紀錄數據的功能。 | zh_TW |
| dc.description.abstract | This research aims to develop an dynamic eye phantom to simulate a realistic ophthalmic surgical environment and evaluate the performance of ophthalmic surgical robots. The phantom system consists of three primary components: a scleral phantom, a biomimetic eyeball mechanism and a three-axis parallel moving platform. The scleral phantom is made of PDMS material, exhibiting elastic characteristics similar to human sclera. It employs a three-degree-of-freedom rotational mechanism coupled with torsion springs to mimic physiological rotational movements of the eyeball induced by surgical instruments. Encoders record rotational angles to quantify surgical performance. The moving platform adopts a tripod parallel mechanism driven by linear motors, providing two rotational degrees of freedom and one translational degree of freedom, simulating the physiological movements of the eyeball during surgery. By employing spectral analysis (SA), which improves the learned data-driven inversion, the platform effectively tracks physiological motion trajectories. Experimental results demonstrate the feasibility of applying this control method to the phantom’s moving platform. Meanwhile, the scleral phantom and biomimetic eyeball mechanism successfully replicate the physical characteristics of ocular tissues and possess data recording capabilities. | en |
| dc.description.provenance | Submitted by admin ntu (admin@lib.ntu.edu.tw) on 2026-01-13T16:09:59Z No. of bitstreams: 0 | en |
| dc.description.provenance | Made available in DSpace on 2026-01-13T16:09:59Z (GMT). No. of bitstreams: 0 | en |
| dc.description.tableofcontents | 致謝 iii
摘要 v Abstract vii 目次 ix 圖次 xi 第一章 緒論 1 1.1 眼科手術需求攀升 1 1.2 眼科手術訓練方式 2 1.3 機器人輔助手術訓練及驗證 5 1.4 研究方法 7 第二章 臨床規格及機構設計 11 2.1設計規格 11 2.1.1 設計規範 11 2.2機構設計 13 2.2.1 仿生眼球 13 2.2.1.1仿生眼球機構設計 13 2.2.1.2仿生眼球組織材料 18 2.2.2 Tripod 並聯式可動平台 19 2.2.2.1 可動平台機構設計 19 2.2.2.2 逆向運動學分析 23 第三章 仿體生理運動重現之學習控制 29 3.1 迭代學習控制簡介 29 3.1.1 基於模型的迭代學習控制 30 3.1.2 數據驅動迭代學習控制 30 3.2 迭代學習控制演算法 31 3.2.1 頻譜分析法 33 3.2.2 學習增益函數設計 36 第四章 實驗結果 39 4.1 硬體配置 39 4.2系統架構與識別 42 4.2.1 系統架構 42 4.2.2 系統識別 44 4.3 可動平台運動控制 46 4.3.1 模擬結果 47 4.3.2 實驗結果 47 4.4仿生眼球數據紀錄 52 第五章 結果與未來展望 55 5.1 結論 55 5.2 未來展望 56 參考文獻59 | - |
| dc.language.iso | zh_TW | - |
| dc.subject | 眼球仿體 | - |
| dc.subject | 三腳架並聯機構 | - |
| dc.subject | 迭代學習控制 | - |
| dc.subject | 頻譜分析 | - |
| dc.subject | Eye phantom | - |
| dc.subject | Tripod mechanism | - |
| dc.subject | Iterative learning control | - |
| dc.subject | Spectral analysis | - |
| dc.title | 主動式眼球手術仿體系統開發 | zh_TW |
| dc.title | Development of a Dynamic Eye Phantom | en |
| dc.type | Thesis | - |
| dc.date.schoolyear | 114-1 | - |
| dc.description.degree | 碩士 | - |
| dc.contributor.oralexamcommittee | 陳達慶;顏炳郎 | zh_TW |
| dc.contributor.oralexamcommittee | Ta-Ching Chen;Ping-Lang Yen | en |
| dc.subject.keyword | 眼球仿體,三腳架並聯機構迭代學習控制頻譜分析 | zh_TW |
| dc.subject.keyword | Eye phantom,Tripod mechanismIterative learning controlSpectral analysis | en |
| dc.relation.page | 68 | - |
| dc.identifier.doi | 10.6342/NTU202502662 | - |
| dc.rights.note | 同意授權(限校園內公開) | - |
| dc.date.accepted | 2025-09-03 | - |
| dc.contributor.author-college | 工學院 | - |
| dc.contributor.author-dept | 機械工程學系 | - |
| dc.date.embargo-lift | 2026-01-14 | - |
| 顯示於系所單位： | 機械工程學系 | |
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