虛擬撓性控制於人機協作內視鏡扶持機器人之應用

Abstract

微小創傷手術於近代逐漸取代傳統的外科手術，有著減少患者痛苦、縮短術後恢復時間等益處，而腹腔鏡微創機器人的發展能讓微小創傷手術更加方便、安全，應用範圍更加擴展。本文主要的研究目的在於為六軸腹腔鏡微創機器人發展出兩種拖曳教導及一種避障算法，以達成兩種任務：追隨末端座標軌跡、對醫護人員的避障。 本文首先推導機械手臂的運動學及動力學，實現拖曳教導，並建構阻抗控制架構增加機械手臂對環境的順應能力。接著推導出相對於任務空間的零空間矩陣，將根據人員與機械臂距離計算出的虛擬外力映射至零空間中，以同時達成兩項任務。文中以Kinect和控制器協作來實現推導出之拖曳教導及避障算法以驗證本研究的可行性。

In recent years, minimally invasive surgery(MIS) has gradually replaced traditional surgery. It has benefits like reduce patients’ pain and shorten recovery time after surgery. The development of endoscope holding robot arms can make MIS more convenient, safer, and can be used in more situation. The purpose of this thesis is to develop two drag teaching method and one collision avoidance method for six-axis endoscope holding robot arms. The arms have two mission: task track following and collision avoidance from medical staff. First, we derived kinematics and dynamics for robot arms and achieved drag teaching. Constructed the structure of impedance control for compliance of the robot arm. Second, we derived null-space matrix of the task-space and reflected the virtual force which computed based on the distance between medical staff and robot arm into null-space. Then the robot arms can carry out two mission at a time. In this thesis, we use Kinect and robot arm controller to implement the method we developed to verify the feasibility of this research.