胸腔採樣輔助定位機械手臂之設計與分析;Design and Analysis of Assist Surgical Positioning for Transthoracic Biopsy

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Title:	胸腔採樣輔助定位機械手臂之設計與分析;Design and Analysis of Assist Surgical Positioning for Transthoracic Biopsy
Authors:	吳騏宏;WU, CHIH-HUNG
Contributors:	機械工程系研究所
Keywords:	Delta機械手臂;遠程運動中心機構;路徑規劃;細胞採樣;Delta robot;Remote Center of Motion;Path Planning;Transthoracic Biopsy
Date:	2016
Issue Date:	2019-07-17
Publisher:	機械工程系研究所
Abstract:	本研究提出一整合醫療輔助機械手臂與採樣路徑規劃系統，並將此應用於胸腔採樣手術，應用時是根據電腦斷層掃瞄之醫學影像資料，則設計與建構出能避開受肋骨遮蔽到達採樣目標之路徑規劃供醫師與醫療輔助機械手臂使用，而醫療輔助機械手臂便運用此路徑，輔助醫師進行胸腔內的採樣手術。在研究中，假設需取樣的細胞在活體胸腔中，而必須考慮採樣目標可能受肋骨遮蔽之情況，增加採樣手術之難度與手術風險，因此須建構採樣路徑規劃系統。首先，藉由醫學影像資料，如電腦斷層掃瞄，利用程式取得採樣點在胸腔內的位置，建構出避開肋骨的採樣路徑；接著使用此採樣路徑，匯入醫療輔助機械手臂系統中，此系統是整合Delta機械手臂與遠程運動中心機構中的平行四邊形機構兩部分，是以Delta機械手臂做為移動載具，移動並定位至胸腔上的插入位置，再使用平行四邊形機構兩個旋轉自由度，去貼合採樣路徑，輔助醫師進行採樣手術。最後，利用假人模型的電腦斷層掃描，驗證採樣路徑規劃系統的可行性與醫療輔助械手臂之精度。經由實驗驗證，本研究所架構之即時追蹤系統可建立路徑，而醫療輔助機械手臂中的Delta機械手臂重覆精度可達1.5mm，平行四邊形機構旋轉精度為2度，符合胸腔採樣手術之需求。 This study proposes an assist surgical positioning system for transthoracic biopsy. Since the biopsy target in the thoracic would be sheltered by rib, the transthoracic biopsy become difficult for expperienceless surgeon. So that, this system can provide surgeon with the preoperative planning and robot-guided positioning of biopsy needle. The system composes of two subsystems: CAS system and 5DOF robot guidance system. The end effector of the 5DOF robot would be automatically positioned correctly to assist surgeon place the biopsy needle while obtaining the data of the needle placement planed in CAS system. The reference marks need to be set on the patient during CT scan, and the image system is set up to establish the transformation between the two coordinates of the CAS system and 5DOF robot system. Furthermore, the markers need to be captured in CT scan and image system no matter what position the patient lie on the operation table. In addition, the 5DOF robot system composes of the Delta robot with three translational DOF and RCM mechanism with two rotational DOF, and the RCM mechanism is installed on the end effector of the Delta robot. Finally, the feasibility of the assist surgical positioning system for transthoracic biopsy has been confirmed via the experiment applied the dummy.
Appears in Collections:	[機械工程學系] 學位論文

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