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標題: | 微型磁控內視鏡研究 A Study of Magnetically Controlled Micro Endoscopy |
作者: | Fong-Wen Huang 黃豐文 |
指導教授: | 劉志文 |
關鍵字: | 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, magnetically controlled micro endoscopy,computer vision,magnetoresistive effect,magnet location,capsule endoscopy, |
出版年 : | 2016 |
學位: | 碩士 |
摘要: | 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。 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 . |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/50464 |
DOI: | 10.6342/NTU201601440 |
全文授權: | 有償授權 |
顯示於系所單位: | 電機工程學系 |
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