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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
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dc.contributor.advisor | 顏炳郎(Ping-Lang Yen) | |
dc.contributor.author | Yen-Kai Cheng | en |
dc.contributor.author | 程彥凱 | zh_TW |
dc.date.accessioned | 2021-06-08T00:02:51Z | - |
dc.date.copyright | 2013-08-29 | |
dc.date.issued | 2013 | |
dc.date.submitted | 2013-08-14 | |
dc.identifier.citation | 邱然偉 (1995).退化性關節炎及其復健治療.臨床醫學,36(5),295-298。
Akesson K., Woolf A.D., (2001) Understanding the burden of musculoskeletal conditions. BMJ, 322(7294): 1079–1080. Kwoh Y. S., Hou J., Jonckheere E. A., Hayati, S., (1988) “A Robot with Improved Absolute Positioning Accuracy for CT Guided Stereotactic Brain Surgery,” IEEE Transactions on Biomedical Engineering, 35(2), pp. 153-160. Ryan A. B., (2012) “Medical Robots: Current Systems and Research Directions,” Journal of Robotics, 2012(14): 2012. Davis B., (2000) “A review of robotics in surgery,” Proceedings of the Institution of Mechanical Engineers H, 214(1): 129–140. Bargar W. L., Bauer A., B‥orner M., (1998) “Primary and revision total hip replacement using the robodoc system,” Clinical Orthopaedics and Related Research, 354: 82–91. Kazanzides P., Zuhars J., Mittelstadt B., Taylor R. H., (1992) “Force sensing and control for a surgical robot,” in Proceedings of the IEEE International Conference on Robotics and Automation, 612–617. Rosen J., Hannaford B., Satava R., (2011) Surgical Robotics: Systems Applications and Visions, Springer, New York, NY, USA, Eds. Yen P. L., Davies B. L., (2010) “Active constraint control for image-guided robotic surgery,” Proceedings of the Institution of Mechanical Engineers H, 224(5): 623–631. Hill, J., Park, W.T., (1979) Real time control of a robot with a mobile camera. Proceedings of the 9th. International Symposium on Industrial Robots, Washington, DC, USA, 233-246. Sanderson A. C., Weiss L. E., (1980) Image-based visual servo control using relational &raph eiTor signals,” Proc. IEEE, 1074-1077. Corke P. l., (1994) High-Performance Closed-Loop Robot Control.Ph.D. Dissertation, University of Melbourne, Dept. Mechanical and Manufacturing Engineering. Hollinghurst N., Cipolla R., (1994) “ Uncalibrated stereo hand eye coordination”, Image und Vision Computing. 12(3): 187-192. Nelson B. J., Morrow J. D., (1995) “Improved Force Control Through Visual Servoing”, Proceedings of the American Control Conference. Baeten J., Bruyninckx H., De Schutter J., (2002) “Shared Control in Hybrid Vision/Force robotic Servoing using the Task Frame”, Proceedings of the 2002 IEEEG3S.I Intl. Conference on Intelligent Robots and Systems. Craig J. J. (2005) “Introduction to Robotics: Mechanics and Control.” Pearson Education International, 3rd Edition, 400. | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/17246 | - |
dc.description.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。 | zh_TW |
dc.description.abstract | 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. | en |
dc.description.provenance | Made available in DSpace on 2021-06-08T00:02:51Z (GMT). No. of bitstreams: 1 ntu-102-R00631020-1.pdf: 4563890 bytes, checksum: cfc337cb5926bd5cd0695314075ab118 (MD5) Previous issue date: 2013 | en |
dc.description.tableofcontents | 摘要 i
圖目錄 iv 表目錄 vii 第一章 緒論 1 1-1 前言 1 1-2 研究目的 2 第二章 文獻探討 3 2-1醫療機器人 (Medical Robots) 3 2-2影像伺服 (Visual Servoing) 7 2-3 視覺與力量的結合控制 10 第三章 系統架構 14 3-1硬體架構 14 3-1-1光學感測器介紹 14 3-1-2 六軸力量感測器 18 3-1-3 機器手臂 18 3-2整體架構 20 第四章 實驗方法 21 4-1前置作業(環境設定) 21 4-1-1系統座標系建立 21 4-1-2 座標系轉換關係建立 (Transformation Matrix) 22 4-1-2-1 骨頭座標系相對於 NDI 座標系 22 4-1-2-2 骨頭切削面座標系相對於股骨座標系 23 4-1-3 座標轉換關係定位 (Registration) 24 4-1-3-1 四元數 (quaternion) 演算法 24 4-1-3-2 力量感測器與機器人轉換關係 26 4-2控制策略 27 4-3 模擬實驗 32 第五章 實驗結果與討論 35 第六章 結論與未來展望 44 參考文獻 45 | |
dc.language.iso | zh-TW | |
dc.title | 切骨輔助機器人視覺與力量控制系統之模擬分析 | zh_TW |
dc.title | Analysis of the visual/force control system in a bone cutting robot | en |
dc.type | Thesis | |
dc.date.schoolyear | 101-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 林沛群(Pei-Chun Lin),葉廷仁(Ting-Jen Yeh),洪碩穗 | |
dc.subject.keyword | 全膝關節置換手術,視覺追蹤,力量回饋, | zh_TW |
dc.subject.keyword | TKR (Total knee replacement),visual tracking,force feedback, | en |
dc.relation.page | 46 | |
dc.rights.note | 未授權 | |
dc.date.accepted | 2013-08-15 | |
dc.contributor.author-college | 生物資源暨農學院 | zh_TW |
dc.contributor.author-dept | 生物產業機電工程學研究所 | zh_TW |
顯示於系所單位: | 生物機電工程學系 |
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