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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 顏家鈺 | |
| dc.contributor.author | Sung-Chi Chiang | en |
| dc.contributor.author | 江松輯 | zh_TW |
| dc.date.accessioned | 2021-06-17T03:11:14Z | - |
| dc.date.available | 2023-07-19 | |
| dc.date.copyright | 2018-07-19 | |
| dc.date.issued | 2018 | |
| dc.date.submitted | 2018-07-17 | |
| dc.identifier.citation | [1] Fuchs, K. H. 'Minimally invasive surgery.' Endoscopy 34.02 (2002): 154-159.
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Fagniez, 'Laparoscopic Liver Resection for Subcapsular Hepatocellular CarcinomaComplicating Chronic Liver Disease,' Arch Surg, vol. 138, pp. 763-769, July 1, 2003. [7] G. Belli, C. Fantini, A. D’Agostino, L. Cioffi, S. Langella, N. Russolillo, and A. Belli, 'Laparoscopic versus open liver resection for hepatocellular carcinoma in patients with histologically proven cirrhosis: short- and middle-term results,'Surgical Endoscopy, vol. 21, pp. 2004-2011, 2007. [8] I. Dagher, P. Lainas, A. Carloni, C. Caillard, A. Champault, C. Smadja, and D.Franco, 'Laparoscopic liver resection for hepatocellular carcinoma,' Surgical Endoscopy, vol. 22, pp. 372-378, 2008. [9] H.-Y. Chen, C.-C. Juan, and C.-G. Ker, 'Laparoscopic Liver Surgery for Patientswith Hepatocellular Carcinoma,' Annals of Surgical Oncology, vol. 15, pp. 800-806, 2008. [10] U. Sarpel, M. Hefti, J. Wisnievsky, S. Roayaie, M. Schwartz, and D. Labow, 'Outcome for Patients Treated with Laparoscopic Versus Open Resection of Hepatocellular Carcinoma: Case-Matched Analysis,' Annals of Surgical Oncology, vol. 16, pp. 1572-1577, 2009. [11] H. Tranchart, G. Di Giuro, P. Lainas, J. Roudie, H. Agostini, D. Franco, and I. Dagher, 'Laparoscopic resection for hepatocellular carcinoma: a matched-pair comparative study,' Surgical Endoscopy, vol. 24, pp. 1170-1176, 2010. [12] Mack MJ, 'Minimally invasive and robotic surgery,' JAMA, pp. 285:568–572, 2001. [13] Tsung, Allan, et al. 'Robotic versus laparoscopic hepatectomy: a matched comparison.' Annals of surgery 259.3 (2014): 549-555. [14] Hannaford, Blake, et al. 'Raven-II: an open platform for surgical robotics research.'IEEE Transactions on Biomedical Engineering 60.4 (2013): 954-959. [15] Kawai, Toshikazu, et al. 'Compact forceps manipulator with a spherical-coordinate linear and circular telescopic rail mechanism for endoscopic surgery.' International journal of computer assisted radiology and surgery 12.8 (2017): 1345-1353. [16] G. S. Guthart and J. K. Salisbury, Jr., 'The Intuitive telesurgery system: overview and application,' in Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on, 2000, pp. 618-621 vol.1. [17] S. Loi-Wah, F. Van Meer, Y. Bailly, and Y. Chung Kwong, 'Design and Development of a Da Vinci Surgical System Simulator,' in Mechatronics and Automation, 2007. ICMA 2007. International Conference on, 2007, pp. 1050-1055. [18] C. C. Nguyen and K. Cleary, 'Intelligent Approach to Robotic Respiratory Motion Compensation for Radiosurgery and other Interventions,' in Automation Congress, 2006. WAC '06. World, 2006, pp. 1-6. [19] S. G. Soltys, J. R. Adler, J. D. Lipani, P. S. Jackson, C. Y. H. Choi, P. Puataweepong, S. White, I. C. Gibbs, and S. D. 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[24] W. Khalil and E. Dombre, Modeling, identification and control of robots. Butterworth-Heinemann, 2004. [25] N. Hogan, 'Impedance Control: An Approach to Manipulation, Parts I~ III,'Transactions of the ASME. Journal of Dynamic Systems, Measurement and Control, vol. 107, no. 1, pp. 1-24, March 1985. [26] J. T. Wen and S. Murphy, 'Stability Analysis of Position and Force Control for Robot Arms,' IEEE Transactions on Automatic Control, vol. 36, no. 3, pp. 365-371, Marchs 1991. [27] T. Zodiac, Theory of Robot Control, 1st ed. Berlin: Springer-Verlag, 1996. [28] Petrovic, Petar B., Ivan Danilov, and Nikola Lukic. 'Nullspace Compliance Control of Kinematically Redundant Anthropomorphic Robot Arm.' [29] Ott, Laurent, et al. 'Robotic assistance to flexible endoscopy by physiologicalmotion tracking.' IEEE Transactions on Robotics27.2 (2011): 346-359. [30] 陳敬元. '虛擬撓性控制於人機協作內視鏡扶持機器人之應用.' 臺灣大學機械工程學研究所學位論文 (2017): 1-81. [31] P. Corke, Robotics, vision and control: fundamental algorithms in MATLAB. Springer, 2011. | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/69243 | - |
| dc.description.abstract | 近年腹腔鏡微創手術因傷口較小，能縮短術後恢復時間並減少了患者痛苦，在醫療領域獲得廣泛運用。結合機器人技術的腹腔鏡微創手術機器人，能達成更精密的手術精度，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一八自由度腹腔鏡微創手術機器人的視角控制。
本文首先介紹內試鏡馬達機構的設計，並推導持鏡臂和內視鏡的運動學和動態模型。在腹腔切口的限制條件下，推導相對於任務空間的零空間矩陣。分析內視鏡頭的視角空間，並建構一零空間阻抗控制架構，使得持鏡臂能在目標物於畫面中位置不變且不對切口產生橫向力的情況下，提供不同視角的畫面。最後以手臂控制器 API 與 MATLAB 模型實現控制演算法以驗證理論可行性。 | zh_TW |
| dc.description.abstract | In recent years, laparoscopic minimally invasive surgery has been extensively used in the medical field due to the small wounds, shorter recovery time and less suffering of patients. Combined with robotic technology, laparoscopic minimally invasive surgical robots can obtain higher surgical accuracy and expand the application of minimally invasive techniques. The main purpose of this paper is to design a force controller to achieve the angle control of an 8-DOF laparoscopic minimally invasive surgical robot.
This article first introduces the design of the endoscope motor mechanism and deduces the kinematics and dynamic model of the manipulator arm and endoscope. Under the constraint of the celiac incision, a null-space matrix relative to the task space would be derived. Perspective space of the endoscope camera would be analyzed and a nullspace impedance control architecture would be constructed so that the endoscope-holding manipulator can provide images with different perspectives in the situation where the target object does not change its position in the picture and does not generate lateral force on the incision. Finally, the control algorithm would be implemented with the arm controller API and MATLAB model to verify the theoretical feasibility. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-17T03:11:14Z (GMT). No. of bitstreams: 1 ntu-107-R05522826-1.pdf: 4544161 bytes, checksum: 2e7df81529f3ccfb61d69f921bff654c (MD5) Previous issue date: 2018 | en |
| dc.description.tableofcontents | 口試委員會審定書 ........................................................................................................... #
誌謝 ................................................................................................................................... i 摘要 .................................................................................................................................. ii ABSTRACT .................................................................................................................... iii CONTENTS .................................................................................................................... iv 圖目錄 ............................................................................................................................ vii 表目錄 ............................................................................................................................... x 第1 章 緒論............................................................................................................ 1 1.1 研究動機 ........................................................................................................ 1 1.1.1 微創手術歷史沿革 ............................................................................... 1 1.1.2 腹部微創手術流程 ............................................................................... 3 1.1.3 微創手術的限制與問題 ....................................................................... 5 1.1.4 研究主題與動機 ................................................................................... 7 1.2 文獻回顧 ........................................................................................................ 9 1.3 論文架構 ...................................................................................................... 11 第2 章 背景知識.................................................................................................. 13 2.1 機械臂運動學 .............................................................................................. 13 2.1.1 正向運動學 ......................................................................................... 13 2.1.2 逆向運動學 ......................................................................................... 16 2.1.3 微分動力學與奇異點 ......................................................................... 16 2.2 機械臂動力學 .............................................................................................. 19 2.3 阻抗控制 ...................................................................................................... 22 2.4 零空間控制 .................................................................................................. 27 第3 章 機器人系統建模 ..................................................................................... 28 3.1 硬體設計與實現 .......................................................................................... 28 3.1.1 系統概觀 ............................................................................................. 28 3.2 運動學建模：RA605 型機械手臂 .............................................................. 32 3.2.1 正向運動學 ......................................................................................... 32 3.2.2 逆向運動學 ......................................................................................... 35 3.2.3 奇異點分析 ......................................................................................... 38 3.3 運動學建模：雙自由度內視鏡 .................................................................. 39 3.3.1 正向運動學 ......................................................................................... 39 3.4 內視鏡驅動機構設計 .................................................................................. 44 3.4.1 機構設計 ............................................................................................. 44 3.4.2 馬達控制 ............................................................................................. 45 3.4.3 非線性問題 ......................................................................................... 46 第4 章 控制器設計 ............................................................................................. 48 4.1 零空間阻抗控制架構 .................................................................................. 48 4.2 內視鏡視角控制架構 .................................................................................. 52 4.3 軟體架構 ...................................................................................................... 55 第5 章 模擬與實驗結果 ..................................................................................... 56 5.1 MATLAB 模擬 ............................................................................................. 56 5.2 操作信號實驗 .............................................................................................. 58 第6 章 結論和未來展望 ..................................................................................... 60 6.1 結論 .............................................................................................................. 60 6.2 未來展望 ...................................................................................................... 60 參考文獻 ......................................................................................................................... 61 | |
| dc.language.iso | zh-TW | |
| dc.subject | 阻抗控制 | zh_TW |
| dc.subject | 內視鏡機器人 | zh_TW |
| dc.subject | 微創手術 | zh_TW |
| dc.subject | Minimally Invasive Surgery | en |
| dc.subject | Impedance Control | en |
| dc.subject | Surgical Robotics | en |
| dc.title | 八自由度內視鏡機器人運動模型建立與鏡頭視角控制 | zh_TW |
| dc.title | Kinematic Modeling and Camera Angle Control of an 8-DOF Endoscope Robot | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 106-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 陳永耀,何明志 | |
| dc.subject.keyword | 內視鏡機器人,微創手術,阻抗控制, | zh_TW |
| dc.subject.keyword | Surgical Robotics,Minimally Invasive Surgery,Impedance Control, | en |
| dc.relation.page | 64 | |
| dc.identifier.doi | 10.6342/NTU201801518 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2018-07-17 | |
| 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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