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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 盧彥文(Yen-Wen Lu) | |
| dc.contributor.author | Yong-Shiang Chang | en |
| dc.contributor.author | 張詠翔 | zh_TW |
| dc.date.accessioned | 2021-06-08T05:03:52Z | - |
| dc.date.copyright | 2011-08-22 | |
| dc.date.issued | 2011 | |
| dc.date.submitted | 2011-08-19 | |
| dc.identifier.citation | Brown, J.D., Rosen, J., Chang, L., Sinanan, M.N., Hannaford, B., . 2004. Quantifying surgeon grasping mechanics in laparoscopy using the Blue DRAGON system. Studies In Health Technology And Informatics 98(January), 34-36.
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IEEE International Conference on, pp. 556-561. Westebring – van der Putten, E.P., Goossens, R.H.M., Jakimowicz, J.J., Dankelman, J., 2008. Haptics in minimally invasive surgery – a review. Minimally Invasive Therapy & Allied Technologies 17, 3-16. Xia, Y., Whitesides, G.M., 1998. Soft lithography. Annual Review of Materials Science 28, 153-184. Yeongmi, K., Oakley, I., Ryu, J., 2006. Design and Psychophysical Evaluation of Pneumatic Tactile Display. SICE-ICASE, 2006. International Joint Conference, pp. 1933-1938. | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/23553 | - |
| dc.description.abstract | 本研究致力於以微創手術器械本體為基底，製造與設計ㄧ具有觸覺感知與回饋之微創手術鉗具，目的在提供醫師於手術執行的同時，因觸覺回饋輔助，使手術執行的效率得以提升。此一鉗具之改良主要分為兩部分，第一部分在於末端致動器的製造與設計，利用微機電製程技術，可使得末端之執行器更微小化，同時加載於末端執行器上之感測器，對外部動態刺激進行感測。此外於第二部分中，感測器感測之訊號，將於裝置在鉗具手持端的觸覺顯示單元加以回饋。本研究中針對此二部分以實驗之方式做定量以及定性的分析，探討製程中的細部作為以及設計上之概念。原型機的設計概念已大部分於本研究中實現，末端微制動器具有抓取之能力，其上之感測器亦可分辨頻率20Hz 下 0.1牛頓與0.5牛頓之差異。另一方面，在觸覺顯示部分可提供0.01牛頓到0.50牛頓之回饋，此一制動能力足以使操作者在感知上有明顯的差異。未來可於此概念上加以最佳化，使得此一系統可完整應用於微創手術當中，提升手術於執行上之效益。 | zh_TW |
| dc.description.abstract | This thesis is devoted to develop and characterize a micromanipulator with sensing capability and a tactile display component - the integration of both components are intended to serve as a tool for minimally invasive surgery (MIS) applications. The first component made by micromachining technology is the micromanipulator of the tool which is divided into microgripper and tactile sensor. The actuator unit could be minimized in size and the incorporated piezoelectric sensor is sensitive to the variation of the external excitation. The second component is the tactile display on the thumb loop which reconstructs the physical information from the micromanipulator to the user’s hand. These assistances on the tool supplement the surgeon with the lake of sense of touch. The majority of the thesis is preliminarily completed. The sensor unit can differentiate the force between 0.1N and 0.5N at frequency 20Hz and the display unit provides 10 mN to 445 mN mechanical force feedback. The characterization of the actuator unit is presented, too. The optimized microgripper, tactile sensor, and tactile display unit could be implemented in the future tool to and actually enhance the efficiency of the minimally invasive surgery. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-08T05:03:52Z (GMT). No. of bitstreams: 1 ntu-100-R98631026-1.pdf: 4209451 bytes, checksum: c2b1d242260a205b4cb18356701b6eb4 (MD5) Previous issue date: 2011 | en |
| dc.description.tableofcontents | 口試委員審定書 i
誌謝 ii 摘要 iii Abstract iv Table of Contents v List of Figures vii List of Tables xi Chapter 1 Introduction 1 1.1 Application of MEMS in medical 1 1.2 Minimally invasive surgery 2 1.3 Structure of the thesis 5 Chapter 2 Literature Review 6 2.1 Micromanipulator component 6 2.2.1 Actuation unit 6 2.2.2 Sensor unit 10 2.2 Tactile display component 13 Chpater3 Micromanipulator- Microgripper and Sensor Integration 18 3.1 Pneumatic microgripper 18 3.1.1 Design and theory 18 3.1.2 Fabrication 20 3.1.3 Results and discussions of the pneumatic actuator unit 24 3.2 Tactile sensor integration on microgrippers 26 3.2.1 Design and fabrication of the sensor on the pneumatic actuator 27 3.2.2 Mechanical adjustment setup 30 3.2.3 Results and discussions of the mechanical properties 31 Chapter 4 Tactile display on MIS grasper 35 4.1 The pneumatic tactile display 35 4.1.1 Design and fabrication 35 4.1.2 The mechanical performance of the pneumatic system 38 4.2 Tactile display using vibration motor 40 4.2.1 Vibration motor 40 4.2.2 Device characterization and tactile information evalution 42 4.3 Psychophysical evaluation 44 4.3.1 Procedure of psychophysical evaluation 44 4.3.2 Results and discussions of the test 49 Chapter 5 Conclusion 55 5.1 Conclusion 55 5.2 Prospective 55 Appendix 1 57 Appendix 2 59 Appendix 3 61 Reference 62 | |
| dc.language.iso | en | |
| dc.title | 具觸覺微型手之設計與製造以及氣動式觸覺回饋 | zh_TW |
| dc.title | Design and Fabrication of the Microhand with Tactile Sensing and the Pneumatic Tactile Feedback | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 99-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 楊燿州(Yao-Jo Yang),顏炳郎(Ping-Lang Yen) | |
| dc.subject.keyword | 微創手術,微機電製程,觸覺感知,觸覺顯示, | zh_TW |
| dc.subject.keyword | minimally invasive surgery,micromachining,tactile sensing,tactile display, | en |
| dc.relation.page | 66 | |
| dc.rights.note | 未授權 | |
| dc.date.accepted | 2011-08-19 | |
| dc.contributor.author-college | 生物資源暨農學院 | zh_TW |
| dc.contributor.author-dept | 生物產業機電工程學研究所 | zh_TW |
| 顯示於系所單位： | 生物機電工程學系 | |
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