微型化串並複合式眼科手術機器人設計與實作

Abstract

根據外科醫生手握持器械的姿勢，本論文旨在開發了一種用於眼科手術的串-並聯複合式機器人。每層的串聯分支都採用了五連桿機構，其優勢在於能夠提供遠端驅動並在重力方向上提高剛性。本研究所提出的機器人具有可變的遠端運動中心(Remote center of motion, RCM)，允許在整個平台不平移的情況下補償眼球的小幅運動，與其他以固定遠端運動中心作為設計核心的醫療輔助機器人相比，可變動的RCM使得對準過程耗時更少。為了簡化多工具手術中更換刀具的流程，以及提高手術中刀具更換的效率，提出了一種被動工具交換機構，該機構利用幾何約束來裝載和卸載手術器械，而操作臂上的永久磁鐵提供足夠的固定力來約束工具。物理原型驗證了足夠的視網膜手術運動範圍並展示了工具交換的能力。

Deriving from the posture of instrument holding by human surgeons, this paper develops a hybrid parallel-serial robot for ophthalmic surgeries. Each serial branch utilizes a compact five-bar mechanism for distal actuation with increased rigidity in the direction of gravity. The designed robot manipulator features a variable remote center of motion (RCM), allowing for compensation of small eye ball movements without translating the entire platform. This makes alignment less time-consuming compared to fixed RCM designs. To streamline multi-tool surgeries, a passive tool exchange mechanism is proposed. The mechanism uses geometric constraints to load and unload surgical instruments, while permanent magnets on the manipulator provide adequate fixation force to constrain the tool. The physical prototype confirms a sufficient range of motion for retinal operations and demonstrates the tool exchange capability.