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標題: | 大腸鏡自動化與心導管手術應用 Colonoscope Automation and Its Extension in Cardiac Catheterization |
作者: | Ting-Ting Yang 楊婷婷 |
指導教授: | 蕭浩明(Hao-Ming Hsiao) |
關鍵字: | 大腸鏡,自動化,影像處理,馬達控制,心導管手術, Colonoscope,Automation,Image Process,Motor Control,Catheterization, |
出版年 : | 2017 |
學位: | 碩士 |
摘要: | 大腸癌是國內發生率第一名、死亡率第三名的癌症,大腸的定期檢查有其重要性。結腸內視鏡檢查為現行大腸相關疾病之視覺診察與治療的標準。現行的結腸內視鏡檢查由內科醫師純手動操作,鏡頭的大小及大腸的形狀使得檢查過程中容易產生鏡頭與腸壁間的碰撞,讓患者感到不適。為了減輕醫師的負擔以及病人的不適感,本研究欲使大腸的檢查手術自動化,並且使自動化大腸鏡能快速的完成大腸鏡檢查,以及控制鏡頭的位置使其不觸碰到腸壁。
本研究將大腸鏡鏡頭拍攝到的影像傳入電腦,將其導入NI VAS系統進行即時影像處理,將得到的訊號傳給NI cRIO-9074,使輸出適當電壓訊號給馬達。轉向機構中,馬達與大腸鏡的手動轉盤透過皮帶輪與皮帶連接,馬達的轉動即能調整大腸鏡鏡頭的方向。前進機構由兩個直流馬達組成,大腸鏡的金屬鏡管則置於兩個馬達之間。使大腸鏡能自動轉向及自動前進。 自動化大腸鏡在轉向機構馬達轉速為30度/秒,前進機構馬達轉速為50度/秒的設定下,跑完腸道模型所須的時間約為140秒,較實際大腸鏡檢查需要15分至30分的檢查時間為少,大大提高檢查的速率。觀察測試時大腸鏡頭的位置變化,可發現鏡頭完全未碰觸到腸壁。因此自動化大腸鏡達到既快且準的完成模型測試的目的。本自動化大腸鏡亦順利地完成豬腸模型測試,提升臨床上應用的可能性。 另外本研究將自動化技術應用到類似的心導管手術。因為輻射造影的需要,心臟內科醫師穿著重達五公斤的鉛衣,長時間在充滿輻射的手術室工作,為了改善心臟內科醫師的工作環境,本研究嘗試使心導管手術自動化,使用LabVIEW及NI cRIO-9074進行影像處理及馬達控制,製作一個使導絲自動前進/後退及轉向的機構雛型,並且完成一個簡易實驗模型的測試,成功地使導絲進入目標血管分支。 The incidence rate of Colorectal cancer in Taiwan is at first place, death rate is at third place. Therefore, the inspection of colon is important. Colonoscopy is the current gold standard for diagnosis and treatment of colon diseases. Currently, physician conduct colonoscopy manually. The size of the tip of colonoscope and the shape of human colon always cause discomfort to patients. In order to allow physicians conduct the procedure more efficiently and alleviate patient's discomfort, the objective of this research is to automate the forward motion and turning motion of colonoscope. The image signal captured in real-time by the CCD camera originally installed at the distal end of the colonoscope for visual inspection were used for image processing by NI VAS. The results of image processing were then fed into NI cRIO-9074 and NI 9403 to control the movements of the colonoscope. In the turning mechanism, belts and pulleys were used to connect the motors and dials. In the forward mechanism, the colonoscope was set in the middle of the two motors. The colonosocpe moves forward when the motors rotate in opposite direction. The colonoscope was able to turn and advance automatically by the control of image processing signal and the mechanisms. The motor of turning mechanism was set at the speed of 30 degrees per second and the motor of forward mechanism was set at the speed of 50 degrees per second. The time needed to finishing the simulation model was 140 seconds which was a lot shorter than the usual inspection time in the hospital, that is 15 to 30 minutes. On the other hand, the tip of the colonoscope did not touch the colon wall as well. The automated colonoscope is able to perform the inspection procedure fast and precisely. The automated colonoscope also completed an ex-vivo simulated model. sucessfully, which increase the possibilities of clinical application. On the other hand, this research applied the automated techniques to the similar surgery, catheterization. Due to radiography, cardio surgeon wear 5kg lead clothing during surgery. To improve working environment of cardio surgeon, this research tried to automate the procedure of catheterization. LabVIEW and NI cRIO were used to do image processing and motor control. A mechanism for guide wire to move forward/backward and rotate was designed and made. The mechanism finished the test of a simple experimental model, making the guide wire enter the goal blood vessel successfully. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/77955 |
DOI: | 10.6342/NTU201701973 |
全文授權: | 有償授權 |
顯示於系所單位: | 機械工程學系 |
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