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http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/72754完整後設資料紀錄
| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 顏家鈺 | |
| dc.contributor.author | Yang-Cheng Huang | en |
| dc.contributor.author | 黃揚程 | zh_TW |
| dc.date.accessioned | 2021-06-17T07:05:19Z | - |
| dc.date.available | 2019-08-18 | |
| dc.date.copyright | 2019-08-18 | |
| dc.date.issued | 2019 | |
| dc.date.submitted | 2019-07-26 | |
| dc.identifier.citation | 參考文獻
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/72754 | - |
| dc.description.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。 | zh_TW |
| dc.description.abstract | 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. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-17T07:05:19Z (GMT). No. of bitstreams: 1 ntu-108-R06522838-1.pdf: 6033485 bytes, checksum: 19a077901c7f54123d7a01d2e18555ce (MD5) Previous issue date: 2019 | en |
| dc.description.tableofcontents | 目錄
誌謝 i 摘要 ii 目錄 v 圖目錄 viii 表目錄 xii 第1章 緒論 1 1.1 研究動機 1 1.1.1 微創手術發展與優點介紹 1 1.1.2 微創手術過程 3 1.1.3 微創手術限制與缺點 5 1.1.4 研究動機及目的 6 1.2 文獻回顧 7 1.2.1 微創機械臂之遠端運動中心 7 1.2.2 可撓式內視鏡相關研究 11 1.3 論文架構 13 第二章 背景知識與理論 15 2.1 正向運動學 15 2.1.1 位置姿態描述 15 2.1.2 齊次轉換 16 2.1.3 座標D-H法 17 2.2 逆向運動學 19 2.3 微分運動學 19 2.3.1 賈可比矩陣 19 2.3.2 奇異點分析 21 2.3.3 阻尼最小平方法 22 2.4機械動力學 23 2.4.1 動態方程式 23 2.4.2 逆向動力學 23 2.5 遠端運動中心 25 2.6 卡式座標控制架構 27 第三章 持鏡機械臂系統建模 28 3.1 機械臂運動學模型建立 28 3.1.1 正向運動學 29 3.1.2 逆向運動學 31 3.2 可撓式內視鏡運動學建模 34 3.2.1 正向運動學 34 3.2.2 建立模擬模型 37 第四章 微創持鏡機械臂控制器設計 40 4.1 具可程式化遠端運動中心末端控制架構 40 4-2 小質量模型 43 4.3 可撓式內視鏡視角控制 47 4.3.1 β角:忽略可撓段、固定腹下延伸管長度 48 4.3.2 β角: 考慮可撓段、無固定腹下延伸管長度 49 4.3.3 α角 53 第五章 微創持鏡機械臂系統架構 56 5-1 硬體架構 56 5-1-2 RA605六軸機械手臂 56 5-1-2 可撓式內視鏡:Mitcorp X1000 PLUS/Mitcorp F500 59 5-2 軟體架構 64 第六章 模擬與實驗結果 67 6.1 微創持鏡機械臂模擬 67 6.1.1 具可程式化遠端運動中心末端控制 67 6.1.2 可撓式內視鏡視角控制 73 6.1.3 小質量模型順應力避障 76 6.2 微創持鏡機械臂真實系統實驗 81 第七章 結論與未來展望 88 7.1 結論 88 7.2 未來展望 88 參考文獻 90 | |
| dc.language.iso | zh-TW | |
| dc.subject | 微創手術 | zh_TW |
| dc.subject | 可撓式內視鏡 | zh_TW |
| dc.subject | 遠端運動中心 | zh_TW |
| dc.subject | Flexible Endoscope | en |
| dc.subject | MIS Endoscopic Manipulator | en |
| dc.subject | Remote Center of Motion | en |
| dc.title | 具遠端運動中心之內視鏡控制 | zh_TW |
| dc.title | An endoscope holder with remote center of motion | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 107-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 陳永耀,何明志,劉書宏,葉奕良 | |
| dc.subject.keyword | 可撓式內視鏡,微創手術,遠端運動中心, | zh_TW |
| dc.subject.keyword | Flexible Endoscope,MIS Endoscopic Manipulator,Remote Center of Motion, | en |
| dc.relation.page | 94 | |
| dc.identifier.doi | 10.6342/NTU201901988 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2019-07-26 | |
| 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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