具遠端運動中心之內視鏡控制

Abstract

近年腹腔鏡微創手術，因有著傷口較小能縮短術後恢復時間，進而減少患者痛苦的優點，而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械臂，能達到更精密的手術，而提升手術效率，擴展了微創手術的應用範圍。本論文主要研究目的為設計一個具有軟體式遠端運動中心之末端控制器來達成一個可以與醫生協作的內視鏡微創手術機械臂系統。 論文中首先推導持鏡臂與內視鏡之運動學與動態模型，建立內視鏡與機械臂模擬模型，並針對微創切口規劃移動路徑，且推導出內視鏡延伸管末端移動時內視鏡視角的補償演算法，再利用順應力模型達成與醫生協作的任務，建構出一具遠端運動中心之持鏡機械系統，讓機械臂能在不破壞切口情況下，在腹腔內依照規畫好的軌跡移動，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。

In recent years, endoscopic minimally invasive surgery has been widely used in the medical field because of its small wounds, which can shorten the postoperative recovery time and thus reduce the pain of patients. The endoscopic minimally invasive surgical robotic arm combined with robotic technology can achieve more precise surgery, improve the efficiency of surgery, and expand the application range of minimally invasive surgery. The main purpose of this thesis is to design an end controller with a soft distal motion center to achieve an endoscopic minimally invasive surgical robotic system that can cooperate with doctors. In the thesis, we derived the kinematics and dynamic model of the robotic arm and the endoscope at first. The simulation model of the endoscope and the manipulator is established. The trajectory is planned for the minimally invasive incision, and we derive the algorithm for endoscope control. The compensation algorithm of the endoscope angle is used to achieve the task of collaborating with the doctor by using the small mass module, and an endoscope holder with software remote center of motion. Make the manipulator move in accordance with the planned trajectory in the abdominal cavity without destroying the incision. Finally, the control algorithm would be implemented with the arm controller API and MATLAB model to verify the theoretical feasibility.