具觸覺微型手之設計與製造以及氣動式觸覺回饋

Abstract

本研究致力於以微創手術器械本體為基底，製造與設計ㄧ具有觸覺感知與回饋之微創手術鉗具，目的在提供醫師於手術執行的同時，因觸覺回饋輔助，使手術執行的效率得以提升。此一鉗具之改良主要分為兩部分，第一部分在於末端致動器的製造與設計，利用微機電製程技術，可使得末端之執行器更微小化，同時加載於末端執行器上之感測器，對外部動態刺激進行感測。此外於第二部分中，感測器感測之訊號，將於裝置在鉗具手持端的觸覺顯示單元加以回饋。本研究中針對此二部分以實驗之方式做定量以及定性的分析，探討製程中的細部作為以及設計上之概念。原型機的設計概念已大部分於本研究中實現，末端微制動器具有抓取之能力，其上之感測器亦可分辨頻率20Hz 下 0.1牛頓與0.5牛頓之差異。另一方面，在觸覺顯示部分可提供0.01牛頓到0.50牛頓之回饋，此一制動能力足以使操作者在感知上有明顯的差異。未來可於此概念上加以最佳化，使得此一系統可完整應用於微創手術當中，提升手術於執行上之效益。

This thesis is devoted to develop and characterize a micromanipulator with sensing capability and a tactile display component - the integration of both components are intended to serve as a tool for minimally invasive surgery (MIS) applications. The first component made by micromachining technology is the micromanipulator of the tool which is divided into microgripper and tactile sensor. The actuator unit could be minimized in size and the incorporated piezoelectric sensor is sensitive to the variation of the external excitation. The second component is the tactile display on the thumb loop which reconstructs the physical information from the micromanipulator to the user’s hand. These assistances on the tool supplement the surgeon with the lake of sense of touch. The majority of the thesis is preliminarily completed. The sensor unit can differentiate the force between 0.1N and 0.5N at frequency 20Hz and the display unit provides 10 mN to 445 mN mechanical force feedback. The characterization of the actuator unit is presented, too. The optimized microgripper, tactile sensor, and tactile display unit could be implemented in the future tool to and actually enhance the efficiency of the minimally invasive surgery.