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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 劉志文 | zh_TW |
| dc.contributor.advisor | Chih-Wen Liu | en |
| dc.contributor.author | 王俊翰 | zh_TW |
| dc.contributor.author | Chun-Han Wang | en |
| dc.date.accessioned | 2023-08-15T16:20:25Z | - |
| dc.date.available | 2023-11-09 | - |
| dc.date.copyright | 2023-08-15 | - |
| dc.date.issued | 2023 | - |
| dc.date.submitted | 2023-07-31 | - |
| dc.identifier.citation | [1] A. Alazmani, A. Hood, D. Jayne, A. Neville, and P. Culmer, "Quantitative assessment of colorectal morphology: Implications for robotic colonoscopy," Medical engineering & physics, vol. 38, no. 2, pp. 148-154, 2016.
[2] 褚家灃, "應用於磁控膠囊內視鏡之控制策略及自動牽引技術," 碩士, 電機工程學研究所, 國立臺灣大學, 台北市, 2020. [Online]. Available: https://hdl.handle.net/11296/4gqvy4 [3] 嚴聲揚, "混合式影像之腸腔追蹤演算法用於磁控膠囊內視鏡自動牽引," 博士, 電機工程學研究所, 國立臺灣大學, 台北市, 2022. [Online]. Available: https://hdl.handle.net/11296/s5ap84 [4] H.-E. Huang, S.-Y. Yen, C.-F. Chu, F.-M. Suk, G.-S. Lien, and C.-W. Liu, "Autonomous navigation of a magnetic colonoscope using force sensing and a heuristic search algorithm," Scientific reports, vol. 11, no. 1, p. 16491, 2021. [5] S. Y. Lin, C. Y. L. Yaow, C. H. Ng, N. W. Wong, H. Y. Tham, and C. S. Chong, "Different position from traditional left lateral for colonoscopy? A meta-analysis and systematic review of randomized control trials," Chronic diseases and translational medicine, vol. 7, no. 1, pp. 27-34, 2021. [6] J. D. Waye and S. Thomas-Gibson, "How I do colonoscopy," Endoscopy, vol. 50, no. 03, pp. 259-262, 2018. [7] A. Ansari, S. Soon, B. Saunders, and J. Sanderson, "A prospective study of the technical feasibility of ileoscopy at colonoscopy," Scandinavian journal of gastroenterology, vol. 38, no. 11, pp. 1184-1186, 2003. [8] S. Ghosh and M. Iacucci, "Dynamic position change at colonoscopy improves adenoma detection," vol. 27, ed: Hindawi, 2013, pp. 508-508. [9] 李育倫, "基於深度學習在內視鏡檢查中估計覆蓋率之研究," 碩士, 電機工程學研究所, 國立臺灣大學, 台北市, 2022. [Online]. Available: https://hdl.handle.net/11296/ww62j6 [10] S. Zhao et al., "Impact of the supine position versus left horizontal position on colonoscopy insertion: a 2-center, randomized controlled trial," Gastrointestinal Endoscopy, vol. 89, no. 6, pp. 1193-1201. e1, 2019. [11] A. Wilson and B. P. Saunders, "Position change during colonoscopy: the oldest and best trick in the book," Gastrointestinal Endoscopy, vol. 82, no. 3, pp. 495-496, 2015. [12] A. Ş. Köksal et al., "A simple method to improve adenoma detection rate during colonoscopy: altering patient position," Canadian Journal of Gastroenterology and Hepatology, vol. 27, pp. 509-512, 2013. [13] J. Devitt, L. Shellman, K. Gardner, and L. W. Nichols, "Using positioning after a colonoscopy for patient comfort management," Gastroenterology Nursing, vol. 34, no. 2, pp. 93-100, 2011. [14] M. MacDonald et al., "Optimizing cecal views during colonoscopy using patient position change," Surgical Endoscopy, vol. 36, no. 9, pp. 6522-6526, 2022. [15] F. S. Uddin et al., "Prone positioning of obese patients for colonoscopy results in shortened cecal intubation times: a randomized trial," Digestive diseases and sciences, vol. 58, pp. 782-787, 2013. [16] C. D. Fryar, M. D. Carroll, and C. L. Ogden, "Prevalence of overweight, obesity, and extreme obesity among adults: United States, trends 1960–1962 through 2009–2010," Hyattsville, MD: National Center for Health Statistics, 2012. [17] A. A. Moghaddam, M. Woodward, and R. Huxley, "Obesity and risk of colorectal cancer: a meta-analysis of 31 studies with 70,000 events," Cancer Epidemiology Biomarkers & Prevention, vol. 16, no. 12, pp. 2533-2547, 2007. [18] A. Horiuchi and Y. Nakayama, "Colonoscopy in the sitting position: lessons learned from self-colonoscopy by using a small-caliber, variable-stiffness colonoscope," Gastrointestinal endoscopy, vol. 63, no. 1, pp. 119-120, 2006. [19] S. S. Lajevardi, Z. Tameev, and G. McKay, "Robotic Transanal Endoscopic Submucosal Dissection (RTESD) of Large Rectal Tumor in Prone Position," Annals of Bariatric Surgery, vol. 5, no. 2, pp. 100-110, 2016. [20] Y. Qian et al., "Combination of five body positions can effectively improve the rate of gastric mucosa’s complete visualization by applying magnetic-guided capsule endoscopy," Gastroenterology research and practice, vol. 2016, 2016. [21] 侯冠哲, "改善磁導航系統定位技術之方法," 碩士, 電機工程學研究所, 國立臺灣大學, 台北市, 2021. [Online]. Available: https://hdl.handle.net/11296/qkvnkx [22] N. Vergis, A. McGrath, C. Stoddart, and J. M. Hoare, "Right Or Left in COLonoscopy (ROLCOL)? A randomized controlled trial of right-versus left-sided starting position in colonoscopy," Official journal of the American College of Gastroenterology| ACG, vol. 110, no. 11, pp. 1576-1581, 2015. | - |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/88446 | - |
| dc.description.abstract | 磁控大腸內視鏡相較於傳統大腸鏡具有許多優勢[1]，如: 舒適性、低壓迫性、受試者可選擇不麻醉並透過磁力大腸鏡的鏡頭回傳大腸內部的狀況。本實驗室致力於磁控大腸內視鏡的開發已有數年的時間，在影像辨識方面透過機器學習的方式協助辨識腸道內部的病變及達到腸腔自動校正[2, 3]。在磁控牽引平台方面，可以達到自動巡航牽引[4]，大幅縮短醫師的操作時間與難度。因此我們在磁控大腸內視鏡的操控與影像方面都有不錯的成果。在研究與開發磁控大腸內視鏡的領域，國內外的研究團隊幾乎都是以病患平躺進行檢查的方式來開發新技術，然而這與傳統內視鏡採用左側臥[5, 6]的檢查方式大不相同。雖然我們已經有成熟的機械手臂進行仰臥式的磁控大腸內視鏡的牽引，但在現階段的環境下，機械手臂終究只是輔助，而醫師對於內視鏡的掌握與操作才是關鍵因素，因此相較於要求多年經驗且資歷豐富的醫師從頭學習，我們更應該開發一套能直接輔佐醫師且減輕患者檢查所帶來的不適感的設備。故本研究提出一套用於左側臥牽引的介面，改良磁控內視鏡只能用於仰臥的缺點，讓醫生可以在傳統左側臥的姿勢進行磁控大腸內視鏡的牽引，在盡可能地保留原先的所有功能(如: 磁控大腸內視鏡定位、磁控大腸內視鏡姿態的控制、磁控大腸內視鏡的軌跡紀錄及 Sweeping-Mode 外，同時簡化電腦端的界面操作難度，提供更完整的資訊。 | zh_TW |
| dc.description.abstract | Magnetic-controlled capsule endoscopy offers several advantages over traditional endoscopy, such as comfort, reduced pressure, and the ability for patients to choose not to be anesthetized. Our laboratory has been developing magnetic-controlled colonoscopy for years, using machine learning to aid in lesion recognition and achieve automatic lumen correction. The magnetic traction platform allows for automated navigation, reducing the learning curve for physicians. We have made significant progress in both manipulation and imaging convenience. Research on magnetically controlled colonoscopes has predominantly focused on developing technologies for patient examination in the supine position, which differs from the traditional left lateral decubitus position used in conventional endoscopy. Although robotic arms are available for endoscope traction, they serve as assistive tools while the expertise and manual skills of the endoscopist remain crucial. Therefore, it is not ideal to expect experienced colonoscopy physicians to learn a new endoscope platform from scratch. In this study, we propose an interface for left lateral decubitus traction, addressing the limitation of magnetically controlled endoscopes being applicable only in the supine position. This interface allows physicians to perform magnetically controlled colonoscope traction in the traditional left lateral decubitus position, simplifying the computer interface operation and providing comprehensive information. | en |
| dc.description.provenance | Submitted by admin ntu (admin@lib.ntu.edu.tw) on 2023-08-15T16:20:25Z No. of bitstreams: 0 | en |
| dc.description.provenance | Made available in DSpace on 2023-08-15T16:20:25Z (GMT). No. of bitstreams: 0 | en |
| dc.description.tableofcontents | 口試委員會審定書 ................................................ i
致謝 ............................................................ ii 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 仰臥位與左側臥位對大腸鏡檢查的影響[10]..................... 3 1.3.2 姿勢變換有利於大腸鏡檢查[11]............................... 5 1.3.3 不同姿勢在大腸內視鏡檢查過程的舒適度調查[13] .............. 6 1.3.4 患者改變姿勢對於盲腸可視度的變化[14]....................... 9 1.3.5 肥胖的患者適合用俯臥位進行檢查[15]......................... 10 1.3.6 專為兒科患者設計的大腸內視鏡檢查[18]....................... 12 1.3.7 機械手臂之大腸鏡黏膜下剝離手術[19]......................... 13 1.3.8 五種姿勢組合以提高胃黏膜完整可視性[20]..................... 14 1.4 章節摘要 .................................................... 16 第二章 MFN 平台與磁控大腸內視鏡之介紹............................ 17 2.1 MAC 系統..................................................... 17 2.1.1 MFN 平台架構............................................... 18 2.1.2 使用者介面的設計 .......................................... 27 2.2 大腸內視鏡的結構............................................. 36 2.3 動物實驗 .................................................... 39 2.3.1 前置作業................................................... 39 2.3.2 活體試驗及結果[2].......................................... 43 第三章 MFN 側臥操控及座標軌跡圖.................................. 47 3.1 MFN 側臥操控 ................................................ 48 3.1.1 EMP 與 IMP 的吸引力分析 ................................... 49 3.1.2 水平牽引段的 EMP 姿態...................................... 50 3.1.3 垂直牽引段的 EMP 姿態...................................... 52 3.1.4 垂直牽引之 Sweeping-mode................................... 54 3.1.5 MAC 系統中的力感測器....................................... 57 3.2 慣性量測單元................................................. 59 3.3 三軸力感測器................................................. 60 3.4 透過補償修正左側臥時的力感測器定位 .......................... 61 3.5 用於左側臥時的 EMP 軌跡標記圖 ............................... 62 第四章 實驗結果與討論............................................ 63 4.1 實驗配置 .................................................... 63 4.1.1 大腸模型................................................... 63 4.1.2 一代磁控大腸內視鏡......................................... 64 4.1.3 二代(蛇頸管)磁控大腸內視鏡................................. 65 4.1.4 外部大磁鐵................................................. 66 4.2 實驗結果 .................................................... 67 4.2.1 四種大腸模型的軌跡圖與耗費時間 ............................ 67 4.2.2 各大腸模型在腸道中的影像................................... 72 第五章 結論與未來工作............................................ 80 5.1 結論......................................................... 80 5.2 未來工作 .................................................... 81 參考文獻......................................................... 82 | - |
| dc.language.iso | zh_TW | - |
| dc.subject | 姿勢變換 | zh_TW |
| dc.subject | 力感測器定位 | zh_TW |
| dc.subject | 磁控膠囊內視鏡 | zh_TW |
| dc.subject | 磁控制系統 | zh_TW |
| dc.subject | Magnetic control system | en |
| dc.subject | Magnetic controlled capsule endoscopy | en |
| dc.subject | Positioning by force sensor | en |
| dc.subject | Position change | en |
| dc.title | 磁控大腸內視鏡之左側臥應用 | zh_TW |
| dc.title | Application of Magnetic colonoscopy for lateral position | en |
| dc.type | Thesis | - |
| dc.date.schoolyear | 111-2 | - |
| dc.description.degree | 碩士 | - |
| dc.contributor.oralexamcommittee | 黃世杰;蔡孟伸 | zh_TW |
| dc.contributor.oralexamcommittee | Shyh-Jier Huang;Men-Shen Tsai | en |
| dc.subject.keyword | 磁控膠囊內視鏡,磁控制系統,力感測器定位,姿勢變換, | zh_TW |
| dc.subject.keyword | Magnetic controlled capsule endoscopy,Magnetic control system,Positioning by force sensor,Position change, | en |
| dc.relation.page | 84 | - |
| dc.identifier.doi | 10.6342/NTU202302016 | - |
| dc.rights.note | 未授權 | - |
| dc.date.accepted | 2023-08-02 | - |
| dc.contributor.author-college | 電機資訊學院 | - |
| dc.contributor.author-dept | 電機工程學系 | - |
| 顯示於系所單位： | 電機工程學系 | |
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|---|---|---|---|
| ntu-111-2.pdf 未授權公開取用 | 5.26 MB | Adobe PDF |
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