基於單平行四邊形遠端運動中心與後驅器械侵入機構之眼科手術機器人

Abstract

隨著機器人輔助型微創手術對於更高精準度和效率的要求，在機器人結構和降低相關誤差方面需要有更多的突破。傳統上機器人驅動手術器械的推入與拉出是透過安裝一線性馬達在機器手臂的末端來達成。然而，這樣的做法會對機器人末端產生額外重量和力矩，並增加手術器械因振動產生誤差的可能。為了減輕這個問題，我們設計並建造了一台能夠從機器人基底驅動手術器械的推入與拉出運動的平行四邊形類機器人。並將有關的重要設計參數進行組裝誤差的最小化，以提升機器人的精準度。並透過模擬的方式驗證從基座端驅動手術器械的推入與拉出和在末端驅動之間的差別與進步，結果顯示出從基座端驅動對於機器人的精準度有顯著的進步。我們將建造出來的機器人進行相關的實驗，包括精準度和重現性的量測，並證實該機器人在機器人輔助型微創手術的可行性。

With the increasing demand for high-accuracy maneuvers in robot-assisted Minimal Invasive Surgery (MIS), both the kinematic structure and the assembly errors of the microsurgical robot need to be improved. Traditionally, the insertion and retraction motion of the surgical tool is driven by a linear actuator mounted on the end-effector. However, this causes additional mass, inertia, and vibration. To mitigate this problem, a novel microsurgical robot with back-drivable instrument translation is developed. Parameter optimization that considers the assembly errors of the double-parallelogram RCM mechanism is performed in the robot design. Simulation of the back-driven insertion translation against the front-driven one is conducted, showing a great improvement. A prototype of the design is fabricated and implemented, which confirms the effectiveness of the proposed new RCM mechanism. A set of experiment is designed and proposed which evaluates the accuracy and precision of the robot.