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標題: | 醫療人員與微創手術機器人協作環境之最短距離推導 Minimum Distance Derivation for a Minimally Invasive Surgical Robot under Human-robot Interaction |
作者: | Pang-Wei Yen 嚴邦維 |
指導教授: | 顏家鈺(Jia-Yush Yen) |
關鍵字: | 微創手術,人機協作,三維距離,深度感測,避障, Minimally invasive surgery,human-robot interaction,three-dimensional distance,depth sensor,collision avoidance, |
出版年 : | 2018 |
學位: | 碩士 |
摘要: | 在醫療人員與機械手臂共同執行微創手術的趨勢下,使機械手臂自動避開人體,避免運作時的碰撞危險,以便保障醫療人員手術期間的安全,是本論文的動機與初衷。本論文之研究目標,設定在研擬機械手臂避障的對策之前,如何正確、快速找出醫療人員身體各部位,到機械手臂各個部份的最短距離,期待所找到的最短距離資訊,能夠作為避障控制的充分資訊。
藉由微軟公司的深度攝影機 Kinect,與機器人學裡順向運動學的運用,手術醫師與機械手臂的特徵點便能在所建立之三維空間裡標定;在既有的研究文獻為基礎下,改變數值解的求解方式,提出了最短距離求解的修改方案,並以軟體模擬、硬體實驗等方式,證明所提出之計算方案的可行性與效率。 Seeing the trend of robot-assisted minimally invasive surgeries evolves into a type of human-robot interaction, the research is motivated to pursue the safety of medical staff by the idea of obstacle/ collision avoidance of the surgical robotic arms, in case of robots accidentally injure surgeons. The goal of the research is to find the minimum distance between surgeons' body parts and robotic arms. The minimum distance derivation should be sophisticated and fast enough, in order to support the collision avoidance control with complete minimum distance information. By the skeletal tracking feature of the depth sensor, Microsoft Kinect, theories on forward kinematics, the location of human and robot can be defined in a three-dimensional space. Based on existing researches, a revised, easier and even faster minimum distance derivation method is developed. This derivation method is applicable to the robotic arm in simulation and experiments, and fulfills the target of this research. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/69400 |
DOI: | 10.6342/NTU201801402 |
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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