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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 顏炳郎 | |
| dc.contributor.author | Chih-Min Yang | en |
| dc.contributor.author | 楊智閔 | zh_TW |
| dc.date.accessioned | 2021-06-16T04:12:40Z | - |
| dc.date.available | 2019-08-28 | |
| dc.date.copyright | 2014-09-16 | |
| dc.date.issued | 2014 | |
| dc.date.submitted | 2014-08-20 | |
| dc.identifier.citation | 1. Adebar, T. K., M. C. Yip, S. E. Salcudean, R. N. Rohling, C. Y. Nguan, and S. L. Goldenberg. 2012. Registration of 3D Ultrasound Through an Air–Tissue Boundary. Medical Imaging, IEEE Transactions on 31(11):2133-2142.
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Liu, K., F. Lewis, G. Lebret, and D. Taylor. 1993. The singularities and dynamics of a Stewart platform manipulator. Journal of Intelligent and Robotic Systems 8(3):287-308. 12. Nanua, P., K. J. Waldron, and V. Murthy. 1990. Direct kinematic solution of a Stewart platform. Robotics and Automation, IEEE Transactions on 6(4):438-444. 13. Nathan, C.-A. O., V. Chakradeo, K. Malhotra, H. D'Agostino, and R. Patwardhan. 2006. The voice-controlled robotic assist scope holder AESOP for the endoscopic approach to the sella. Skull Base 16(3):123. 14. Nishikawa, A., T. Hosoi, K. Koara, D. Negoro, A. Hikita, S. Asano, H. Kakutani, F. Miyazaki, M. Sekimoto, and M. Yasui. 2003. FAce MOUSe: A novel human-machine interface for controlling the position of a laparoscope. Robotics and Automation, IEEE Transactions on 19(5):825-841. 15. Rassweiler, J., M. Hruza, J. Klein, A. S. Goezen, and D. Teber. 2010. The role of laparoscopic radical prostatectomy in the era of robotic surgery. 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JSME international journal. Series C, dynamics, control, robotics, design and manufacturing 40(2):299-308. 21. Taylor, R., P. Jensen, L. Whitcomb, A. Barnes, R. Kumar, D. Stoianovici, P. Gupta, Z. Wang, E. Dejuan, and L. Kavoussi. 1999. A steady-hand robotic system for microsurgical augmentation. The International Journal of Robotics Research 18(12):1201-1210. 22. Taylor, R. H., J. Funda, B. Eldridge, S. Gomory, K. Gruben, D. LaRose, M. Talamini, L. Kavoussi, and J. Anderson. 1995. A telerobotic assistant for laparoscopic surgery. Engineering in Medicine and Biology Magazine, IEEE 14(3):279-288. 23. Tsai, T.-C., and Y.-L. Hsu. 2004. Development of a parallel surgical robot with automatic bone drilling carriage for stereotactic neurosurgery. In Systems, Man and Cybernetics, 2004 IEEE International Conference on. IEEE. 24. Wendlandt, J. M., and S. S. Sastry. 1994. Design and control of a simplified Stewart platform for endoscopy. In Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on. IEEE. 25. Yen, P.-L., D.-R. Chen, K.-T. Yeh, and P.-Y. Chu. 2011. Development of a stiffness measurement accessory for ultrasound in breast cancer diagnosis. Medical engineering & physics 33(9):1108-1119. 26. 郭進星、蕭銘暉、李高逵、賴紹榕、蘇俊瑋。2012。手術機器人之發展現況。出自〝智慧型機器人產業情報報告〞，第63期 6-20。台中 : 財團法人精密機械研究發展中心。 | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/55613 | - |
| dc.description.abstract | 本文目的在設計一內視鏡手術輔助機器人，以史都華平台混合連桿機構所組成，透過NDI 光學定位系統、內視鏡影像處理，本研究成功設計與實作出一台具有視覺追蹤功能之內視鏡手術輔助機器人；相較於現存的內視鏡手術機台，本研究採用並聯式機後混合連桿機構，可以減少其累積誤差且擁有較佳剛性，在機構上，以運動學找出最佳工作空間並建議使用者操作在該範圍，其連桿機構末端亦可以更換為其他類型之內視鏡頭。透過光學定位系統來縮小遠程虛擬運動中心因機構造成之誤差以及修正內視鏡影像之座標，最後結合內視鏡影像處理，來達到視覺追蹤之目的。
最後本研究實作一台原型機，透過NDI光學定位系統驗證其精度，透過實作驗證所提出之方法；並以原型機驗證所提出之學定位系統補償策略可有效減小其遠程虛擬運動中心之誤差，並成功實現視覺追蹤效果。 | zh_TW |
| dc.description.abstract | This study is to design a Robotic Assisted Platform for Endoscope, which combines a Stewart platform and a linkage mechanism structure. Through NDI polaris optical tracking system and endoscopic image processing, This study successful design and implement a robot assisted endoscopic surgery with visual tracking. Compared with most part of the endoscopic surgery robot, this study combined a parallel mechanism and linkage mechanism, it can reduce its accumulated error and has better rigidity.By the kinematics to find the best workspace.Using the optical tracking system to reduce the error of remote center of motion and correct the coordinate in the endoscopic images. Finally, this study implemented a prototype with the endoscopic image processing and optical tracking system, to reduse the remote center of motion error and achieve the visual tracking. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-16T04:12:40Z (GMT). No. of bitstreams: 1 ntu-103-R01631017-1.pdf: 3183126 bytes, checksum: 66388f00168b862272af8168c8f4ae68 (MD5) Previous issue date: 2014 | en |
| dc.description.tableofcontents | 第1章 前言 - 1 -
1-1 研究動機 - 1 - 1-2 文獻回顧 - 4 - 1-3 研究方法 - 7 - 第2章 史都華平台機構運動分析 - 9 - 2-1 定位方法 - 9 - 第3章 輔助平台基本運動及校正 - 42 - 3-1 平台初始參數校正 - 42 - 3-2 RCM 運動誤差補償 - 45 - 第4章 視覺追蹤 - 52 - 4-1 內視鏡camera座標系建立 - 52 - 4-2 視覺定位 - 55 - 第5章 結論與未來規劃 - 61 - 參考文獻 - 62 - | |
| dc.language.iso | zh-TW | |
| dc.subject | 史都華平台 | zh_TW |
| dc.subject | 內視鏡手術 | zh_TW |
| dc.subject | 內視鏡 | zh_TW |
| dc.subject | 視覺追蹤 | zh_TW |
| dc.subject | 遠程虛擬運動中心 | zh_TW |
| dc.subject | Endoscope | en |
| dc.subject | Stewart platform | en |
| dc.subject | remote center of motion | en |
| dc.subject | visual tracking | en |
| dc.subject | Endoscopic surgery | en |
| dc.title | 機器人輔助之內視鏡平台設計與實作 | zh_TW |
| dc.title | Design and Realization of Robotic Assisted Platform for Endoscope | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 102-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 鄭宗記,葉啟娟,葉廷仁 | |
| dc.subject.keyword | 內視鏡手術,內視鏡,視覺追蹤,遠程虛擬運動中心,史都華平台, | zh_TW |
| dc.subject.keyword | Endoscopic surgery,Endoscope,visual tracking,remote center of motion,Stewart platform, | en |
| dc.relation.page | 64 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2014-08-20 | |
| 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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| ntu-103-1.pdf 未授權公開取用 | 3.11 MB | Adobe PDF |
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