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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 | 劉志文 | |
dc.contributor.author | Fong-Wen Huang | en |
dc.contributor.author | 黃豐文 | zh_TW |
dc.date.accessioned | 2021-06-15T12:41:50Z | - |
dc.date.available | 2016-08-02 | |
dc.date.copyright | 2016-08-02 | |
dc.date.issued | 2016 | |
dc.date.submitted | 2016-07-26 | |
dc.identifier.citation | [1] G. Ciuti, A. Menciassi, and P. Dario. Capsule endoscopy : From current achievement to open challenges. Biomedical Engineering, IEEE Reviews in 4:59-72,2011.
[2] Federico Carpi and Hasan Shaheed. Grand challenges in magnetic capsule endosopy.Expert Rev Med Devices, 10(4):433-6,2013 [3] Gi-ShihLien, Chih-Wen Liu, Joe-Air Jiang, Cheng-Long Chuang, and Ming-Tsung Teng. Magnetic control system targeted for capsule endoscopic operations in the stomach –design, fabrication, and in vitro and ex vivo evaluations. Biomedical Engineering, IEEE Transactions on, 59(7):2068–2079, July 2012. [4] 以色列Given Imaging官方網站( http://www.givenimaging.com 2016/7/21 ) [5] M. Sendoh, A. Yamazaki, A. Chiba, M. Soma, K. Ishiyama, and K.-I. Arai. Spiral type magnetic micro actuators for medical applications. In icro-Nanomechatronics and Human Science, 2004 and The Fourth Symposium Micro-Nanomechatronics for Information-Based Society, 2004. Proceedings of the 2004 International Symposiumon, pages 319–324, Oct 2004. [6] A. Chiba, M. Sendoh, K. Ishiyama, and K. I. Arai. Moving of a Magnetic Actuator for a Capsule Endoscope in the Intestine of a Pig. Journal of The Magnetics Societyof Japan, 29:343–346, 2005. [7] A. Chiba, M. Sendoh, K. Ishiyama, Y. Suda, K. I. Arai, T. Komaru, and K. Shirato.Colon endoscope navigation by magnetic actuator and intestine observations.Journal of The Magnetics Society of Japan, 28:433–436, 2004. [8] http://www.didaktik.physik.uni-muenchen.de/elektronenbahnen/en/index.php [9] Gastone Ciuti, Pietro Valdastri, Arianna Menciassi, and Paolo Dario. Robotic magnetic steering and locomotion of capsule endoscope for diagnostic and surgical endoluminal procedures. Robotica, 28:199–207, 3 2010. [10] G Ciuti, R Donlin, P Valdastri, A Arezzo, A Menciassi, M Morino, P Dario, et al. Robotic versus manual control in magnetic steering of an endoscopic capsule. Endoscopy,42(2):148, 2010. [11] G. Ciuti, M. Salerno, G. Lucarini, P. Valdastri, A. Arezzo, A. Menciassi, M. Morino, and P. Dario. A comparative evaluation of control interfaces for a robotic-aided endoscopic capsule platform. Robotics, IEEE Transactions on, 28(2):534–538, April 2012. [12] Arthur W Mahoney1 and Jake J Abbott. 5-dof manipulation of a magnetic capsule in fluid using a single permanent magnet: Proof-of-concept for stomach endoscopy [13] A.W. Mahoney and J.J. Abbott. Generating rotating magnetic fields with a single permanent magnet for propulsion of untethered magnetic devices in a lumen. Robotics,IEEE Transactions on, 30(2):411–420, April 2014. [14] 張育豪.「可變磁場控制系統應用於胃部膠囊內視鏡之研製」2014年7月.國立台灣大學電機工程學研究所論文. [15] Bradski, Gary, and Adrian Kaehler. Learning OpenCV: Computer vision with the OpenCV library. ' O'Reilly Media, Inc.', 2008. [16] Phase correlation維基百科( https://en.wikipedia.org/wiki/Phase_correlation ) [17] Totsu, Kentaro, Yoichi Haga, and Masayoshi Esashi. 'Three-axis magneto-impedance effect sensor system for detecting position and orientation of catheter tip.' Sensors and Actuators A: physical 111.2 (2004): 304-309. [18] Salerno, Marco, et al. 'A discrete-time localization method for capsule endoscopy based on on-board magnetic sensing.' Measurement Science and Technology 23.1 (2011): 015701. [19] Hu, Chao, Max Q-H. Meng, and Mrinal Mandal. 'Efficient magnetic localization and orientation technique for capsule endoscopy.' International Journal of Information Acquisition 2.01 (2005): 23-36. [20] Wang, Xiaona, Max QH Meng, and Chao Hu. 'A localization method using 3-axis magnetoresistive sensors for tracking of capsule endoscope.' Engineering in Medicine and Biology Society, 2006. EMBS'06. 28th Annual International Conference of the IEEE. IEEE, 2006. [21] Hu, Chao, Max QH Meng, and Mrinal Mandal. 'A linear algorithm for tracing magnet position and orientation by using three-axis magnetic sensors.' Magnetics, IEEE Transactions on 43.12 (2007): 4096-4101. [22] 金重勳. 磁性材料. 科學月刊, 289, 1 1989. [23] Griffiths, David Jeffrey, and Reed College. Introduction to electrodynamics. Vol. 3. Upper Saddle River, NJ: prentice Hall, 1999. [24] Stewart, James. Calculus: early transcendentals. Cengage Learning, 2010. [25] Nguyen-Schäfer, Hung, and Jan-Philip Schmidt. Tensor Analysis and Elementary Differential Geometry for Physicists and Engineers. Springer, 2014. [26] 清華大學物理實驗課本( www.phys.nthu.edu.tw/~exphy/Download/ex01.pdf ) [27] Marquardt, Donald W. 'An algorithm for least-squares estimation of nonlinear parameters.' Journal of the society for Industrial and Applied Mathematics 11.2 (1963): 431-441. [28] 成大資工 ( http://wiki.csie.ncku.edu.tw/embedded/I2C ) [29] http://www2.kuas.edu.tw/edu/mmtlab/home/MMTLab-intro20110107.pdf [30] https://reference.digilentinc.com/_media/pmod:pmod:pmodCMPS_rm.pdf [31] https://cdn-shop.adafruit.com/datasheets/HMC5883L_3-Axis_Digital_Compass_IC.pdf [32] http://cds.linear.com/docs/en/demo-board-manual/dc2217af.PDF [33] http://cds.linear.com/docs/en/datasheet/4316fa.pdf [34] NI官網 (http://www.ni.com/zh-tw.html) | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/50464 | - |
dc.description.abstract | 膠囊內視鏡相較於傳統內視鏡具有非侵入式、無需麻醉且能觀測到整個消化系統各項優勢。在內視鏡領域中,已然被視為一個具有吸引性的消化道檢查方式。然而相較於主動式控制傳統內視鏡,膠囊內視鏡卻因無法主動受控,只能被動順著腸道蠕動以及靠著膠囊本身重力順著腸道往下移動,故在病灶處常常漏掉了許多重要鏡頭。因此如何控制體內之膠囊內視鏡已經成為國際上各個團隊之研究重點,其中又以體外磁場控制方式最具前瞻性。
在本論文裡面,首先比較國內外各個研究團隊之研究概況與本團隊提出相關研究成果。經比較後,發現以手持式體外磁場控制的方式是最直接且有效,但其重量負擔卻是一大缺點。基於本實驗室先前對於磁控膠囊內視鏡研究,搭配以磁阻感測器陣列推算膠囊磁鐵之位置與姿態、機器視覺化判別膠囊移動之同步性及其誤差,提出一種優化微型磁控內視鏡。 | zh_TW |
dc.description.abstract | Capsule endoscopy has the advantages of noninvasive,needlessness of sedation and the ability to examine the whole digestive system compared with the traditional endos- copy. It has been viewed as a quite attractive approach to examine the digestive system in endoscopy field . However, compared with the traditional endoscopy of active con- trolling, capsule endoscopy cannot be manipulated and it just only can passively move by its gravity and the peristalsis of digestive system,which may cause the losses of lots of important pictures around the lesions. Therefore, how to make capsule endoscopy be controllable has become a big issue to many research groups all over the world. Among the many aproaches, manipulating capsule endoscopy with magnetic field outside the human body is the most promising method.
In the thesis, comparison between the general situation od each research groups is done at first. After the comparison, controlling the capsule with a magntic hand-held co- ntroller is the most direct and effective approach of controlling the capsule endoscopy, but excess weight of the hand-held controller is a big disadvantage. Based on the prev- ious study to the capsule endoscopy in our group, we propose an optimized magnetically controlled micro colonoscopy by using the magnetoresistive sensor array to deter-mine the position and orientation of the micro-magnetron colonoscopy and using computer vision to modify the error between movement direction of the capsule and the command direction manipulated by joystick . | en |
dc.description.provenance | Made available in DSpace on 2021-06-15T12:41:50Z (GMT). No. of bitstreams: 1 ntu-105-R03921074-1.pdf: 7113263 bytes, checksum: a821fb6badeb10e35fc93a79c30ac7d9 (MD5) Previous issue date: 2016 | en |
dc.description.tableofcontents | 中文摘要 i
ABSTRACT ii 目錄 iii 圖目錄 vi 表目錄 xi 第一章 緒論 1 1-1 研究背景 1 1-2 研究動機 3 1-3 論文架構 4 第二章 膠囊內視鏡系統與微型磁控內視鏡介紹 5 2-1 目前各界對於膠囊內視鏡的構想及研究概況 5 2-1-1 日本東北大學膠囊內視鏡磁場控制系統研究概況 6 2-1-2 義大利比薩大學研究概況 13 2-1-3 美國猶他大學對磁控膠囊方法的研究 19 2-1-4 台灣大學膠囊內視鏡磁場控制系統研究概況 23 2-2 微型磁控內視鏡系統介紹 30 2-2-1 磁控系統流程圖 31 2-2-2 人工視覺的探討 32 2-2-3 X-Y磁場導引器平台 34 第三章 磁鐵定位的理論及其演算法 35 3-1 永久磁鐵材料的特性 35 3-1-1 最大導磁率(Maximum Permeability) 35 3-1-2 機械強度(Mechanic Intensity) 35 3-1-3 磁滯曲線(B-H curve) 36 3-1-4 磁偶極矩 38 3-2 磁鐵於空間中磁場理論式 40 3-3 非線性方程組的最小平方差解 49 第四章 實驗系統架構與成果討論 52 4-1 硬體架構 52 4-1-1 I2C通訊協定 52 4-1-2 HMC5883L磁阻感測器 54 4-1-3 I2C Address Translator與硬體架構呈現 57 4-2 軟體架構 61 4-2-1 MyRIO與Labview 61 4-2-2 資料傳輸方式與Matlab 64 4-3 不同條件的定位情況 66 第五章 結論與未來工作 71 5-1 結論 71 5-2 未來工作 71 參考文獻 73 | |
dc.language.iso | zh-TW | |
dc.title | 微型磁控內視鏡研究 | zh_TW |
dc.title | A Study of Magnetically Controlled Micro Endoscopy | en |
dc.type | Thesis | |
dc.date.schoolyear | 104-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 俞齊山,林子喬,蘇恆毅 | |
dc.subject.keyword | 磁控式系統,微型磁控內視鏡,膠囊內視鏡,機器視覺,磁阻效應,磁定位, | zh_TW |
dc.subject.keyword | magnetically controlled micro endoscopy,computer vision,magnetoresistive effect,magnet location,capsule endoscopy, | en |
dc.relation.page | 76 | |
dc.identifier.doi | 10.6342/NTU201601440 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2016-07-27 | |
dc.contributor.author-college | 電機資訊學院 | zh_TW |
dc.contributor.author-dept | 電機工程學研究所 | zh_TW |
顯示於系所單位: | 電機工程學系 |
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