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標題: | 應用機器視覺於藥物載具自動塗佈系統之設計與實現 Design and Implementation of Automated Drug Coating System with Machine Vision |
作者: | Guan-Jie Su 蘇冠傑 |
指導教授: | 蕭浩明(Hao-Ming Hsiao) |
關鍵字: | 藥物載具,塗藥血管支架,機器視覺,影像建模定位,自動光學檢測, Drug delivery vehicles,Drug Eluting Stent,Machine Vision Technology,Image Modeling and Positioning,Automatic Optical Inspection, |
出版年 : | 2017 |
學位: | 碩士 |
摘要: | 由於醫學迅速的發展,傳統的裸金屬血管支架無法達到目前的醫療需求,而塗藥血管支架可以藉由負載藥物達到更有效的治療。於是塗藥血管支架在治療心血管疾病上扮演越來越重要的位置,且創新設計的儲藥槽式塗藥血管支架更是未來植入式醫療器材之流行新趨勢。未來不僅可以更有效的應用多種藥物在同一支血管支架上,更可以藉由控制釋放藥物的時間,使血管支架作為藥物載具有更高的發展潛力與可能性。不過現今的塗藥血管支架製造中,多是以噴霧式完成塗佈藥物。然而以人工塗佈藥物無法具有較高的穩定性,且噴霧式噴嘴大範圍塗佈會造成藥物的浪費。塗藥血管支架表面上如果過度塗佈,很容易對治療有不良影響。且目前的塗佈方式更是無法應用在儲藥槽式塗藥血管支架上。
由於塗佈流程是塗藥血管支架製造的最後一步,血管支架表面容易與原先的血管支架設計圖有差異,會無法完成指定位置的塗佈。為了克服上述的缺點,本研究設計、開發、實作出一臺新型的藥物載具自動塗佈系統。此系統中以自動化改善人工塗佈,更將噴霧式塗佈改為定點塗佈,並且可以應用在儲藥槽式塗藥血管支架上,達到階段性釋放的可能性。硬體部分是由精密移動控制機構、光學影像定位機構、藥物塗佈控制機構所設計整合完成。而軟體部分是利用C#、OpenCV、OpenGL,以及本研究自行整合開發的自動塗佈系統工具包(ACSTK)進行軟體與功能的撰寫,進而完成整個自動化系統的整合實現。 本研究首先應用機器視覺的技術為血管支架做影像建模定位,並且利用影像處理技術自動辨識出血管支架表面與儲藥槽的特徵,控制藥物塗佈控制機構進行定點塗佈。最後不同尺寸與型態的血管支架進行此自動化系統驗證,結果顯示本研究都可以成功地完成定位、塗佈等功能。本研究所設計之自動塗佈系統,除了可以應用在多種不同的血管支架上,也擁有多種塗佈功能,大大提升血管支架的價值。 Thanks to the rapid development of medical devices, the drug-eluting stent plays more and more important role in the treatment of cardiovascular disease. Tradition bare metal stent have not met current requirements, and drug-eluting stent is able to provide more effective treatment by drug delivery. The novel drug-eluting stent design with micro-sized drug reservoirs (drug-eluting depot stent) will become the new trend of implantable medical equipment. Down the line, different types of medicine can be coated on a vascular stent, and physicians will be able to control release time of the medicine, empowering drug-eluting stents with more possibility and potential. Currently, the coating of drug-eluding stent is processed manually with spray nozzle. However, manual handled coating does not make drug-eluting stent more stable, and spray nozzle causes waste of medicine due to the wide coating range. What is more serious that over-coating on the vascular stent surface could have bad impact on many treatments. In addition, the current coating method must not apply to depot drug-eluting stent, and does not achieve the novel treatment of releasing drugs with different stages. To combat the above disadvantages, this research designed and developed a new automatic coating system of drug delivery vehicles. This automatic system not only improved manual handling coating, but also changed spray nozzle to micro-glass nozzle to achieve target coating. With these significant improvements, the coating of depot drug-eluting stent became feasible. In this automatic system, the self-designed hardware was integrated with three mechanisms including the Precision Motion Control Mechanism, the Image Modeling and Position Mechanism and the Drug Coating Control Mechanism. The software was built with C-Sharp (C#) programming language and multiple libraries, including OpenCV, OpenGL, and the self-developed toolkit ACSTK. Then the integration of the entire the automation system was completed. Before the coating process, drug-eluting stent had to undergo a lot of manufacturing process such as heat treatment and electrical polishing. The drug-eluting stent actual surface and design surface could have much difference. Therefore, this research used vascular stent images to achieve image modeling and positioning with machine vision technology. Moreover, the system was able to automatically identify vascular stent and micro-sized drug reservoirs characteristics utilizing image processing. Finally, the system controlled the Drug Coating Control mechanism to complete target coating. The result had shown this research successfully developed the automatic coating system of drug delivery vehicles, and it can not only coat the current drug-eluting stents, but also able to apply to depot drug-eluting stents. It can even coat other different types of vascular stents. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/77961 |
DOI: | 10.6342/NTU201701871 |
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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