手持機器人之人機協同導航介面開發

Abstract

手持式機器人具有手術房佔用空間較小，維持醫生原有的操刀習慣等優勢。然而，手持機器人控制架構具有Human in the loop的特性，因此手持機器人的定位性能響應，是透過導航視覺介面迴授給操作者手術器械與病灶的相關空間資訊，操作者據此進行動作，並與機器人相互協同之動態，若導航介面提供給操作者的視覺回授不當，會降低整體人機協同關係，進而影響手術機器人的定位性能。 本研究透過分析機器人控制架構並模擬，訂定出操作者手部移動範圍，將此移動範圍增設在導航介面上指示操作者。操作者透過此移動範圍的指示，能將機器人致動器的輸出能量侷限在一個較小的範圍內，降低機器人在進行補償時，致動器回饋給操作者手部的反作用力，使整體人機協同關係提高。透過實驗證明，操作者藉由增設移動範圍的導航介面，確實能將馬達輸出能量侷限在移範圍內，且整體定位性能也提高。

The hand-held robot has the advantage that the operating room takes up less space and maintains the doctor's original habits. However, the handheld robot control architecture has the characteristics of Human in the loop. Therefore,the positioning performance response of the handheld robot is to feedback the spatial information of the surgical instrument and the lesion through the navigation interface, and the operator acts accordingly, and the dynamics of robot interaction, if the navigation interface provides the operator with improper visual feedback,it will reduce the overall human-machine synergy,which will affect the positioning performance of the surgical robot. In this study, by analyzing the robot control architecture and simulating,the operator's hand movement range is determined,and the movement range is added to the navigation interface to indicate the operator.Through the indication of the moving range,the operator can limit the output energy of the robot actuator to a small range,and reduce the reaction force of the actuator to the operator's hand when the robot compensates,so that the whole person Machine synergy has improved.Through experiments,the operator can really limit the motor output energy within the shift range by adding a navigation range of the moving range,and the overall positioning performance is also improved.