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http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/56381
標題: | 以四連桿為基礎之微創手術器械設計、製造、剛性合成 Four-bar Linkage Based Instrument Design, Manufacture, and Stiffness Synthesis of Minimally Invasive Surgery |
作者: | Michael Kam 關淮中 |
指導教授: | 顏家鈺(Jia-Yush Yen) |
關鍵字: | 微創手術,四連桿,剛性,閉迴路控制,頻寬, Minimally invasive surgery,four-bar linkage,stiffness,closed-loop control,bandwidth, |
出版年 : | 2014 |
學位: | 碩士 |
摘要: | 本篇論文展示了一種新的設計及方法,用以提高微創手術(MIS)中儀器的剛性。
本論文提出的新型器械包含以四連桿機構為基礎的末端效應器、手持裝置與關節。新型機構將利用四連桿旋轉,與現階段可彎曲的器械能具有相同功能,並減少外力造成的不必要變形。本論文亦將手術器械結合致動器,設計閉迴路控制系統增加其剛性,並從閉迴路系統之波德圖中頻寬獲得驗證。本論文實驗結果得出,使用P控制器時頻寬皆約在23.88 Hz 以上,PI控制器則接近15.92 Hz。 This thesis presents a new design and a method of increasing stiffness for instruments for use in minimally invasive surgery (MIS). The proposed mechanism features an end-effector based on a four-bar linkage, along with a hand-held device and joints. The proposed instrument is operated using a rotating motion identical to conventional bendable instruments. The purposed design eliminates undesired motions. The instrument is assembled with an actuator and motion converter mechanism. A closed-loop control was installed for the system to achieve the desired stiffness. The increase of the stiffness is verified from the closed-loop system bandwidth. The experimental results of using P controller was above 23.88 Hz, and the PI controller was approximately 15.92 Hz. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/56381 |
全文授權: | 有償授權 |
顯示於系所單位: | 機械工程學系 |
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ntu-103-1.pdf 目前未授權公開取用 | 14.77 MB | Adobe PDF |
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