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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
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dc.contributor.advisor | 劉志文(Chih-Wen Liu) | |
dc.contributor.author | Chia-Feng Chu | en |
dc.contributor.author | 褚家灃 | zh_TW |
dc.date.accessioned | 2021-05-20T00:54:26Z | - |
dc.date.available | 2020-08-06 | |
dc.date.available | 2021-05-20T00:54:26Z | - |
dc.date.copyright | 2020-08-06 | |
dc.date.issued | 2020 | |
dc.date.submitted | 2020-08-02 | |
dc.identifier.citation | [1] M.Sfakiotakis, Zabulis X, Tsakiris DP. Endoscopic capsule line-of-sight alignment by visual servoing, in 7th Intl. Conf. on Wearable Micro and Nano Technologies for Personalized Health (pHealth 2010), 2010. [2] Zabulis X, Argyros AA, Tsakiris DP. Lumen Detection for Capsule Endoscopy, Proc. IEEE/RSJ Int Conf on Intelligent Robots and Systems, 2008; 3921-3926. [3] Kim, Ji-Yoon; Kwon, Yong-Cheol; Hong, Yeh-Sun. Automated Alignment of Rotating Magnetic Field for Inducing a Continuous Spiral Motion on a Capsule Endoscope with a Twistable Thread Mechanism.2012, 371-377. [4] Kim, M. G., Hong, Y. S. and Lim, E. J., “Position and Orientation Detection of Capsule Endoscopes in Spiral Motion,” Int. J. Precis. Eng. Manuf., Vol. 11, No. 1, pp. 31-37, 2010. [5] 高振翔.「磁控膠囊內視鏡在腸道內移動之研究」2017年7月.國立台灣大學電機工程學研究所論文. [6] A Guide To using IMU (Accelerometer and Gyroscope Devices) in Embedded Applications [Online]. Available: https://silverwind1982.pixnet.net/blog/post/280287502 [7] Pythagorean theorem 3D [Online]. Available: https://www.mathsisfun.com/geometry/pythagoras-3d.html [8] MMA8452Q data-sheet[Online].Available:https://www.nxp.com/docs/en/data-sheet/MMA8452Q.pdf [9] 陳宣辰.「微型磁控內視鏡定位研究之改良」2017年12月.國立台灣大學電機工程學研究所論文. [10] C.S.Bell et al.,”Image partitioning and illumination in image-based pose detection for teleoperated flexible endoscopes”,Artif . Intell . Med., vol. 59 ,no.3,pp.185-196,2013 [11] Block diagram of the PID controller[Online]. Available:https://zh.wikipedia.org/wiki/PID%E6%8E%A7%E5%88%B6%E5%99%A8 [12] Bennett, Stuart. A history of control engineering, 1930-1955. IET. 1993: p. 48 [13] Force sensor GIS-T313-S introduce[Online]. Available:http://www.g-chen.com/products/products_show.php?pid=6 cid=12 language=_tw [14] BFS and DFS algorithm introduce[Online]. Available: https://www.youtube.com/watch?v=oLtvUWpAnTQ t=731s [15] Queue introduce[Online]. Available: https://blog.kdchang.cc/2016/09/11/javascript-data-structure-algorithm-queue/ [16] stack introduce[Online]. Available: https://blog.techbridge.cc/2016/06/24/javascript-data-structure-algorithm-stack/ [17] stack introduce picture[Online]. Available: https://codertw.com/%E7%A8%8B%E5%BC%8F%E8%AA%9E%E8%A8%80/45043/ [18] 大腸內視鏡訓練模型 [Online]. Available: https://www.kyotokagaku.com/jp/educational/products/detail01/m40.html. [19] Johnson , D B A note on Dijkstra's shortest path algorithm . J ACM 20 , 3 (July 1973) , 385-388 . [20] DIJKSTRA, E W A note on two problems m connexion with graphs. Numer Math 1 (1959), 269-271 [21] Rekimoto, J. 2013. Traxion: a tactile interaction device with virtual force sensation. In Proc. of ACM UIST '13. | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/8437 | - |
dc.description.abstract | 磁控膠囊內視鏡相較於各種內視鏡研究中,具有低壓迫性、舒適性、不需要麻醉且能透過磁力控制內視鏡影像鏡頭觀測到整個大腸狀況等優點,而本實驗室致力於開發內視鏡相關技術已長達多年,如開發上消化道(胃鏡)所使用的手持式磁控器、探討磁場與位置相關的磁力定位技術、以及為了大腸鏡檢測而開發的磁控牽引平台、以及透過AI人工智慧開發的腸腔辨識技術,透過這些技術,有助於提高醫生在進行手術時的效率及準確度。 本研究是因應操作者在操控磁控牽引平台時,可能會因為磁控牽引平台的指令較繁雜、功能較多元,使得操作者需要一段時間才能上手,故透過AI人工智慧、控制策略、演算法將磁力牽引平台整合成一個半自動化機構,開發包括腸腔自動校正技術、防內視鏡走失技術、以及利用深度優先搜尋演算法實現內視鏡自動牽引技術,之後將這些技術包裝成在使用者介面上的按鈕,操作者只需要點擊使用者介面的按鈕即可使用這些技術,如此可大大降低操作者在操控磁力牽引平台時的不便性。 | zh_TW |
dc.description.abstract | Comparing to all the studies of endoscope, Capsule Endoscope has many advantages, such as low pressure, comfortability and no need to anesthesia. Also, it can observe the entire situation in the large intestine by controlling the camera lens magnetically. Our lab has dedicated to Endoscope and its related technique for many years. Such as developing Magnetic handheld controller for EsophagoGastroDuodenoscopy (EGD) use, investigating magnetic field and related position of Magnetic Positioning Technology. Moreover, our lab also developed the magnetic field navigator (MFN) platform for colonoscopy detection and the intestinal cavity identification technology through AI artificial intelligence. During the surgery, these technologies can help the doctors to have a better understanding of the conditions inside the intestine. This research is due to the fact that when the operator controls the magnetic field navigator platform, the command may be complicated and the functions are more diverse, so that the operator needs a period of time to get started. Therefore, the magnetic field navigator platform is integrated into a semi-automatic mechanism through AI artificial intelligence, control strategies and algorithms. The development includes lumen calibration technology, Anti-endoscope loss and using the depth-first search algorithm to achieve endoscope automatic traction technology. Then integrate these technologies into the user interface’s button. The operator only needs to click the button of the user interface to use these technologies, which can greatly reduce the inconvenience of the operator when controlling the magnetic field navigator platform. | en |
dc.description.provenance | Made available in DSpace on 2021-05-20T00:54:26Z (GMT). No. of bitstreams: 1 U0001-1707202016260600.pdf: 4695893 bytes, checksum: 4e346af08a0201eeb06bfec47bc441e1 (MD5) Previous issue date: 2020 | en |
dc.description.tableofcontents | 口試委員會審定書 i 致謝 ii 中文摘要 iii ABSTRACT iv 目錄 v 圖目錄 viii 表目錄 xiv 第一章 緒論 1 1-1 研究背景 1 1-2 研究動機 2 1-3 文獻回顧 3 1-3-1 希臘克里特大學研究概況 3 1-3-2 韓國航空大學研究概況 5 1-4 論文架構 10 第二章 微型磁控內視鏡介紹 11 2-1 MFN Platform系統 11 2-1-1 第一代MFN Platform機構 11 2-1-2 第二代MFN Platform機構 12 2-2 磁控膠囊內視鏡 24 2-2-1 硬體規格 24 2-2-2 系統架構 25 2-3 動物實驗 27 2-3-1 動物實驗前置作業 27 2-3-2 測試結果 28 2-3-3 動物實驗 32 第三章 自動校正技術及深度優先搜尋演算法 38 3-1 腸腔自動校正技術 38 3-1-1 慣性測量單元(Inertial measurement unit,簡稱IMU) 38 3-1-2 陣列移動運算(Array Shift) 44 3-1-3 人工智慧膠囊鏡頭管腔辨識技術 47 3-1-4 校正公式推導(Calibration Function) 48 3-1-5 PID controller 51 3-2 防內視鏡走失技術 54 3-2-1 力感測器介紹 54 3-2-2 控制流程 55 3-3 以深度優先搜尋演算法實現內視鏡自動牽引技術 59 3-3-1 圖形搜尋演算法 59 3-3-2 控制流程 66 第四章 實驗結果及成果討論 74 4-1 實驗設備 74 4-1-1 大腸模型 74 4-1-2 實驗用內視鏡、磁控外部磁鐵 75 4-2 腸腔自動校正技術實驗結果 78 4-2-1 陣列移動運算實驗數據 78 4-2-2 自動校正技術實驗數據 80 4-2-3 PI controller實驗數據 82 4-2-4 比較表 83 4-3 防內視鏡走失技術實驗結果 84 4-3-1 實驗流程設計 84 4-3-2 防內視鏡走失實驗數據 86 4-4 以深度優先搜尋演算法實現內視鏡自動牽引技術實驗結果 92 4-4-1 比較表 95 第五章 結論與未來工作 98 5-1 結論 98 5-2 未來工作 99 5-2-1 硬體架構 99 5-2-2 三軸荷重元 99 5-2-3 力反饋技術 99 參考文獻 100 | |
dc.language.iso | zh-TW | |
dc.title | 應用於磁控膠囊內視鏡之控制策略及自動牽引技術 | zh_TW |
dc.title | Control Strategy and Automatic Traction Technology for Magnetic Controlled Capsule Endoscopy | en |
dc.type | Thesis | |
dc.date.schoolyear | 108-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 連吉時(Gi-Shih Lien),粟發滿(Fat-Moon Suk) | |
dc.subject.keyword | 磁控膠囊內視鏡,磁控式系統,深度優先搜尋演算法,腸道對準,力感測器定位, | zh_TW |
dc.subject.keyword | Magnetic controlled capsule endoscopy,Magnetic control system,Depth-first search algorithm,lumen detection,Positioning by force sensor, | en |
dc.relation.page | 102 | |
dc.identifier.doi | 10.6342/NTU202001604 | |
dc.rights.note | 同意授權(全球公開) | |
dc.date.accepted | 2020-08-03 | |
dc.contributor.author-college | 電機資訊學院 | zh_TW |
dc.contributor.author-dept | 電機工程學研究所 | zh_TW |
顯示於系所單位: | 電機工程學系 |
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