臺灣博碩士論文加值系統

本研究的主旨在於發展一套應用於腹部最小侵入式手術使用之力回饋系統，此系統應用於虛擬手術中，遙控定位用醫療機械臂以執行進針穿刺工作，幫助醫療人員治療腹腔中長有腫瘤之病患。本研究包含相關研究文獻的整理及分類，包含虛擬實境、力回饋、手部觸覺以及虛擬實境於醫學上之應用。利用前人之經驗，針對腹部最小侵入式手術中穿刺手術，設計力回饋操控器以及發展控制系統。
本研究先進行穿刺實驗瞭解穿刺力範圍，針對設計需求及設計限制進行初步設計，並評估各種設計的優缺，最後選擇磁煞車式設計進行細部規劃設計及製作。利用圖形控制軟體LabView進行系統與硬體間的訊號傳輸與轉換，其中包括資料擷取、穿刺力模擬以及穿刺阻抗的表現。透過編碼器取得操控器位移資訊，代入穿刺實驗之力學模型以得到回饋穿刺力大小，表現於力回饋穿刺器上。我們利用前人所提供之評量法評估本系統之設計結果。最後經由TCP/IP與虛擬穿刺手術視覺系統整合，提供完整之術前規劃與手術模擬輔助工具。
本系統是最小侵入式手術虛擬實境系統中之力回饋子系統，整個系統尚包含定位穿刺用機械臂以及虛擬穿刺手術視覺系統，這三個子系統將在未來整合為一完整之最小侵入式手術模擬系統。

The purpose of the research is to develop a Virtual Reality (VR) force feedback system using in Minimally Invasive Surgery (MIS) for abdomen. This design is to teleoperate the process of needle puncture on a medical robotics for tumor removal from liver. In this thesis, related work has been classified into four topics, which includes virtual reality, force feedback, human hand tactile, and tactile feedback in medical applications. According to the predecessor’s experiences, we designed the force feedback device and developed the control system.
Firstly, we make a puncture experiment on sample models to obtain the force domains. According to the design requirements and design limit, we made several different designs for evaluation. We selected one of the designs - magnetic break for advance design and production. A control software, named LabView was employed to connect between the hardware and system. It includes data acquisition, force simulation, and puncture resistant display. The position information has been transmitted from encoder. The feedback force is calculated from the position information and experimented force models in order to illustrated on the force feedback device. We investigate the integrated system by two of the research work. Finally, the system is then built to integrate with virtual puncture visual system via TCP/IP, to assist pre-surgical plan and surgical simulation.
The force feedback system described in this paper is one of the subsystems in minimal invasive surgery in CT room. The puncture robotics and virtual surgical visualization system are integrated to a complete MIS surgical simulation system in near feature.

頁次
摘要i
英文摘要ii
致謝iv
目錄v
表目錄viii
圖目錄ix
第一章 前言1
1-1 前言1
1-2 研究動機1
1-3 研究目的5
1-4 本文架構6
第二章 文獻回顧7
2-1 何謂虛擬實鏡7
2-1-1 虛擬實境的歷史演進10
2-1-2 虛擬實境的應用12
2-1-3 虛擬實境之環境簡介16
2-1-4 虛擬實境之分類17
2-2 人類觸覺/力覺感應22
2-3 力回饋與機械臂操作24
2-3-1 力回饋系統的歷史演進26
2-3-2 力回饋機構37
2-3-3 具有可攜帶性否37
2-3-4 依驅動力來源分類40
2-3-5 外型構造的分類43
2-3-6 依力回饋作用範圍分類44
2-4 虛擬實境之力回饋技術於醫療上之應用44
2-4-1 器官觸診45
2-4-2 麻醉應用45
2-4-3 最小侵入式手術47
2-4-4 顯微手術48
2-4-5 復建49
第三章 實驗方法50
3-1 系統架構50
3-2 力回饋器之設計54
3-2-1 設計需求與設計限制54
3-2-2 設計構想57
3-2-3 細部設計66
3-3 軟體系統及整合70
3-3-1 軟體架構70
3-3-2 軟硬體溝通71
3-3-3 系統整合73
3-4 模擬穿刺力之分析74
3-4-1 穿刺力量測74
3-4-2 人體解剖模型76
3-4-3 穿刺力模擬79
3-5 系統測試82
3-5-1 測試流程82
3-5-2 AD/DA卡測試83
3-5-3 編碼器校準83
3-5-4 固定電壓力量校準84
3-5-5 程式測試84
3-5-6 靜態力量測試84
3-5-7 動態力量測試84
3-5-8 系統整合測試84
第四章 結果與討論86
4-1 設計結果86
4-2 虛擬穿刺手術視覺系統之整合91
4-3 實驗結果92
4-3-1 穿刺力實驗92
4-3-2 系統測試結果93
4-3-3 修正後之設計94
4-4 系統評量方法97
4-5 系統評估與討論99
第五章 結論與展望103
參考文獻106
附錄A114
附錄B119
附錄C127
附錄D133

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