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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 顏家鈺(Jia-Yush Yen) | |
dc.contributor.author | You-Ting Liao | en |
dc.contributor.author | 廖友廷 | zh_TW |
dc.date.accessioned | 2021-06-15T13:06:29Z | - |
dc.date.available | 2019-07-26 | |
dc.date.copyright | 2016-07-26 | |
dc.date.issued | 2016 | |
dc.date.submitted | 2016-07-01 | |
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Zodiac, Theory of Robot Control, 1st ed. Berlin: Springer-Verlag, 1996. [50] L.M. Aksman, C.R. Carignan, D.L. Akin, “Force Estimation Based Compliance Control of Harmonically Driven Manipulators”, Proc. of IEEE International Conference on Robotics and Automation, Roma, Italy, pp. 4208-4213, 2007. [51] T. Murakami, R. Nakamura, F. Yu, K. Ohnishi, 'Force sensorless impedance control by disturbance observer,' Record of the Power Conversion Conf., Yokohama, Japan, pp.352-357, 1993. | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/50918 | - |
dc.description.abstract | 腹腔鏡微創手術機器人在醫療領域的廣泛運用,拓展了醫生的手術能力,提高了手術的質量,減少了患者痛苦,縮短了術後恢復時間。鑒於腹腔鏡微創機器人的優勢並結合醫生的經驗,使微創手術應用於更精密的手術領域,擴展了微創技術的應用範圍。本文主要研究目的為設計一個力量控制器來達成腹腔鏡微創手術機器人的避障和拖曳教導。
本文首先推導持鏡臂和內視鏡的運動學和動態模型,並規畫手術所需沙漏狀軌跡,針對病人肚皮孔洞小範圍的軌跡教導。以阻抗控制讓持鏡臂順應外科手術環境,在碰撞病人或醫生時能產生順應能力來保持安全。以質量阻尼系統動態模型建構拖曳教導,創建幾種拖曳模式如定姿教導或定位教導讓醫生可以方便且安全地操作內視鏡。文中以六軸機械手臂搭配安裝在終端效果器上的六軸力規透過力旋轉轉換演算法來驗證本研究的可行性。 | zh_TW |
dc.description.abstract | Endoscopic minimally invasive surgery robot has been widely used in the medical field which expands the doctor’s surgical capacity, improves the quality of surgery, reduces the suffering of patients, shortens the cure time and reduces the patients’ cost. Considering of combining the advantages of endoscopic minimally invasive surgical robot and experience of a surgeon, it applies the minimally invasive surgery technology
into precision surgery areas and then enlarge the application areas of the minimally invasive surgery. The main purpose of this thesis is to design a force controller to accomplish the obstacle avoidance and drag teaching. First of all, we derive the kinematics and dynamic models of the MIS endoscopic manipulator from Robotic Kinematic Control and plan hourglass trajectory during the MIS surgery. We also teach robot how to aim at hole on the abdomen. By impedance control, the manipulator can comply with surgical environment. We can construct drag teaching by mass-damper dynamic model and let doctors safely operate the endoscope with several teaching mode such as the fixed-position mode and the fixed-orientation mode. Finally, we use 6-DOF manipulator and six-axis force sensor to test and verify the proposed algorithm. | en |
dc.description.provenance | Made available in DSpace on 2021-06-15T13:06:29Z (GMT). No. of bitstreams: 1 ntu-105-R03522811-1.pdf: 3739543 bytes, checksum: abf2e6f2094f22a1fe002837bbbc82a0 (MD5) Previous issue date: 2016 | en |
dc.description.tableofcontents | 致謝 I
摘要 II Abstract III 目錄 V 圖目錄 IX 表目錄 XII 第1章 緒論 1 1.1 研究動機 1 1.1.1 微創手術歷史發展與優點 1 1.1.2 微創手術的限制與問題 3 1.1.3 研究動機與目的 4 1.2 文獻回顧 5 1.3 微創手術操作方式 6 1.4 腹腔鏡視覺系統 9 1.4.1 腹腔鏡視覺下持鏡臂系統運動方案 9 1.4.2 持鏡臂於腹腔鏡視覺下運動的含意 9 1.5 論文架構 10 第2章 運動學理論 12 2.1 引言 12 2.2 正運動學 12 2.2.1 位置姿態描述 13 2.2.2 齊次轉換 14 2.3 逆運動學 15 2.4 奇異點 17 2.4.1 奇異點分析 18 第3章 內視鏡持鏡臂設計 19 3.1 引言 19 3.2 機構設計 19 3.3 運動學正解 22 3.4 封閉式逆解 25 3.5 內視鏡模型 28 3.6 阻尼最小平方法 29 3.7 最大關節極限限制 30 3.8 旋轉定理 31 3.8.1 歐拉旋轉定理 31 3.8.2 環架鎖定 32 3.8.3 四元數 33 3.9 軌跡規劃 34 3.10 腹腔鏡視覺下持鏡臂的運動方法 36 3.11 本章小結 37 第4章 阻抗控制理論 38 4.1 引言 38 4.2 動態方程式 38 4.2.1 逆動態方程式 39 4.3 阻抗控制 42 5.1 本章小結 46 第5章 持鏡臂拖曳教導 47 5.1 引言 47 5.2 拖曳順應控制 47 5.2.1 六軸力規 48 5.2.2 力規坐標旋轉 50 5.2.3 小質量動態模型 51 5.2.4 小質量模型參數效果 52 5.2.5 力感測器校正 54 5.3 順應教導原理 55 5.3.1 教導指令過濾補償 56 5.4 持鏡臂工作流程 57 5.5 軟體架構 58 5.5.1 ADAMS模擬 60 5.5.2 通訊協定設計 61 5.6 硬體架構 63 5.7 本章小結 66 第6章 模擬和實驗結果 67 6.1 引言 67 6.2 阻抗控制模擬 67 6.3 拖曳教導實驗 70 6.4 模擬實驗討論 76 第7章 結論和未來展望 78 7.1 結論 78 7.2 未來展望 78 參考文獻 80 | |
dc.language.iso | zh-TW | |
dc.title | 內視鏡機器人阻抗教導控制與醫生避障系統 | zh_TW |
dc.title | Doctor Avoidance and Impedance Control of an Endoscope Robot | en |
dc.type | Thesis | |
dc.date.schoolyear | 104-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 劉書宏,葉雅琴 | |
dc.subject.keyword | 內視鏡機器人,阻抗控制,拖曳教導,微創手術, | zh_TW |
dc.subject.keyword | MIS Endoscopic Manipulator,Impedance Control,Drag Teaching,Minimally Invasive Surgery, | en |
dc.relation.page | 86 | |
dc.identifier.doi | 10.6342/NTU201600635 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2016-07-04 | |
dc.contributor.author-college | 工學院 | zh_TW |
dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
顯示於系所單位: | 機械工程學系 |
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