切骨輔助機器人視覺與力量控制系統之模擬分析

Abstract

本論文針對手術機器人的視覺補償及力量控制兩方面進行研究，建立出一個動態模型，以應用於膝關節置換手術為本研究的核心目的。利用光學攝影機偵測被動式標靶 (passive optical tracker) 之位置移動，並將力量感測器裝置機器手臂末端 (end-effecter) 的銑刀上，本研究主要針對機器人末端力量感測訊號與視覺訊號對手術機器人產生的耦合訊號影響進行模擬與討論。根據本研究系統模擬之初步結果，顯示結合視覺與力量資訊對於全膝關節置換手術機器人，將可達到更精確、更穩定且更安全的手術成果。

In this study, we focus on visual compensation and force control of the osteotomy-assisted robot to build the control model applying to the knee replacement surgery. Using the optical camera to detect the position movement of passive optical trackers and the force sensor equipped on the end of the robot arm, i.e., the cutting tool position. Our study is to investigate the coupling signal between the vision and force sensors by simulation. According to our preliminary analysis and result, it shows that the combination of visual and force signals will improve the performance of the osteotomy-assisted robot become more accurate, safer, and stable.