臺灣博碩士論文加值系統

牙髓病科為牙醫學系的一門專科，俗稱根管治療，其程序為移除牙齒內部受感染的壞死神經後予以封閉，以根除病患牙齒的疼痛，然而此手術仰賴執業牙醫多年培訓的豐富經驗與手藝，有可能發生人為失誤。而近來機械與生醫技術的結合，可有效協助醫師處理在手術過程中遭遇到的問題。先進牙根管治療之研究旨在發展電腦輔助系統及微型機器人來克服傳統治療過程中遭遇到的問題，提升根管治療手術的可預測性及成功率，以協助醫師進行牙科治療，並迎合生醫儀器的小型化趨勢。
本研究之發展目標分為三個主軸，分別為超音波馬達致動平台控制、根管治療銼針夾持機構設計以及馬達控制器。本研究的裝置規劃包含機械系統、控制電路和人機介面，又配備角位移、力和力矩三種感測器，機具皆可耐高溫以利消毒。實驗方面，應用LabVIEW軟體和內嵌FPGA電路的NI sbRIO-9631擷取卡執行多軸控制，且具備定位、力與力矩的閉路控制，以達到即時的狀態監測；此外，藉由LabVIEW軟體建立人機介面，提供簡易的操作介面，以便利醫事人員操作。
本研究利用模糊PID控制器完成超音波馬達致動平台控制法則，可有效提升定位精度至0.032 mm，較高的精度可以有效減少牙根管手術中牙根管穿孔的現象，再配合步進馬達帶動銼針轉動達到清創效果。

Endodontic is a branch of dentistry, commonly known as root canal treatment. The process of endodontic includes removing damaged soft tissue and repairing teeth. However, the success of the surgery depends on doctors’ experience and training. The traditional treatment might cause surgical mistake. In order to assist doctors with the problems encountered during surgery, the trend of using mechanical engineering to solve problems related to biotechnology and medicine is more popular. This study aims to overcome problems encountered in the traditional treatment and enhance the clinical predictability and the cure rates of endodontic therapy by developing a computer-aided system and an endodontic microrobot. The developed hardware/software system is used to assist dentists in dental treatment and satisfy the trend of miniaturized biomedical instruments.
This study is focused on the development of an endodontic microrobot: displacement control of moving platform, file fixture design and electric motor controller. The apparatus of the study contains mechanical systems, control circuits and a human-machine interface with three sensors of angular displacement, force, and torque. The above equipment can be sterilized under high-temperature environment. Real-time multi-axis control is carried out by applying a LabVIEW software and NI sbRIO-9631 circuit card embedded with FPGA circuits. And the LabVIEW system has positioning, force, and torque feedback controls for real-time monitoring. The human-machine interface is constructed by using the LabVIEW software to facilitate operation done by clinical people.
The research uses a fuzzy-PID controller to achieve ultrasonic motor moving platform control. Positioning accuracy can be improved to 0.032 mm. High accuracy can effectively reduce the rate of root canal perforation. Moreover, a stepper motor drives Ni-Ti files for cleaning root canal.

摘 要 I
ABSTRACT III
TABLE OF CONTENTS VI
LIST OF TABLES IX
LIST OF FIGURES X
CHAPTER 1 INTRODUCTION 1
1.1 BACKGROUND 1
1.2 OBJECTIVE 3
1.3 LITERATURE SURVEY 3
1.3.1 Ultrasonic Motor 3
1.3.2 Hall Sensor 6
1.3.3 Stepper Motor 7
1.3.4 Relationship of Torque-speed of Stepper Motors 14
CHAPTER 2 ENDODONTIC MECHANISM DESIGN 16
2.1 MOVING PLATFORM 16
2.2 FILE FIXTURE 18
2.2.1 Design Concept 18
2.2.2 Assembly 18
2.3 MECHANISM DIAGRAM 23
CHAPTER 3 DISPLACEMENT CONTROL 24
3.1 ULTRASONIC MOTOR 24
3.1.1 Actuating Principle of USM 25
3.1.2 Model of USM 26
3.1.3 Protection 30
3.2 DISPLACEMENT CONTROL 32
3.2.1 PID Control 32
3.2.2 Fuzzy Control 32
3.2.3 Control Method 33
3.3 SIMULATION 37
CHAPTER 4 MOTOR CONTROL 38
4.1 STEPPER MOTOR 38
4.1.1 Control Course 39
4.1.2 Dynamic Model 40
4.1.3 DQ Transformation 41
4.2 TORQUE-SPEED CONTROL 42
4.2.1 Torque Measurement 42
4.2.2 Speed Measurement 45
4.2.3 Motor Control 48
4.2.4 Simulation 49
CHAPTER 5 EXPERIMENT 51
5.1 MECHANISM CONTROL SYSTEM 51
5.2 DISPLACEMENT CONTROL TESTING OF MOVING PLATFORM 52
5.3 RESULTS 57
CHAPTER 6 CONCLUSION 64
REFERENCES 66

Acarnley, PP., “Stepping Motors: A Guide to Modem Theory and Practice,” 4th edition, London, Institution of Electrical Engineers, 2003.

Aranjo, B., Soori, P.K., and Talukder, P., “Stepper Motor Drives for Robotic Applications,” Power Engineering and Optimization Conference, IEEE International Conference, pp. 361-366, 2012.

Baek, S. H., Folkman, C. M., Park, J. W., Lee S., Bark, C. W., Tybell, T., and Eom, C. B., “Nature of Polarization Fatigue in BiFeO3,” Advanced Materials, Vol. 23, Issue 14, pp. 1621–1625, 2011.

Bahia, M.G. A., Melo, M.C. C., and Buono, V. T. L. “Influence of simulated clinical use on the torsional behavior of nickel-titanium rotary endodontic instruments,” Department of Restorative Dentistry, Faculty of Dentistry, Federal University of Minas Gerais, Belo Horizonte, MG, Brazil, 2006.

Breedon, P. J., Sivayoganathan, K., Balendran, V. and Al-Dabass, D., “Multi Axis Fuzzy Control and Performance Analysis for an Industrial Robot,” Fuzzy Systems (FUZZ-IEEE’02), IEEE International Conference, Vol. 1, pp. 500-505, 2002.

Gambarini, G., “Rationale for The Use of Low-Torque Endodontic Motors in Root Canal Instrumentation,” Dental Traumatology, Vol. 16, Issue 3, pp. 95–100, 2000.

Gong, S., and He B., “LabVIEW-Base Automatic Rising and Falling Speed Control of Stepper Motor,” Electrical Machines and Systems, IEEE International Conference, pp. 1-4, 2009.

Jose, Q., “Driving a Brushed DC or Bipolar Stepper Motor Just Got Easier,” ECN (Electronic Component News), Vol. 55, Issue 6, p.14, 2011.

Kang, C.Y., Yoo, K.H., Ko, H.P., Kim, H.J., Ko, T.K., and Yoon, S.J., “Analysis of Driving Mechanism for Tiny Piezoelectric Linear Motor,” Journal of Electroceramics, Vol. 17, Issue 2-4, pp. 609-612, 2006.

Kenji, U., “Piezoelectric Ultrasonic Motors: Overview,” UK, Smart Mater. Struct. 7, pp. 273–285, 1997.

Liu, D., Cong, L., Liu, J., and Xu, D., “The Research on the Control System of the Minimally Invasive Surgical Robot,” Robotics, Automation and Mechatronics, IEEE International Conference, pp. 592-597, 2008.

Makkar, C., Dixon, W. E., Sawyer, W. G., and Hu, G., “A New Continuously Differentiable Friction Model for Control Systems Design,” Advanced Intelligent Mechatronics, IEEE/ASME International Conference, pp. 600-605, 2005.

Mancini, D., Brescia, M., Cascone, E. and Schipani, P., “A Variable Structure Control Law for Telescope Pointing and Tracking,” Proceedings-SPIE The International Society for Optical Engineering: Acquisition, tracking, and pointing XI, Vol. 3086, 1997.

Mazeika,D., and Vasiljev, P., “Linear Inertial Piezoelectric Motor with Bimorph Disc,” Mechanical Systems and Signal Processing, Elsevier Ltd., Vol. 36, Issue 1, pp. 110-117, 2013.

Melkote, H., and Khorrami, F., “Robust nonlinear control and torque ripple reduction for permanent magnet stepper motors,” Control Theory and Applications, IEE Proceedings, IEEE International Conference, Vol.146, Issue 2, pp. 186-196, 1999.

Romaniuc, I., “An Introduction to Ultrasonic Piezoelectric Motors,” Buletinul AGIR nr. 4, 2011.

Rovillaina, P., Cazayousa, M., Sacutoa, A., Lebeugleb, D., and Colsonb, D., “Piezoelectric measurements on single crystal by Raman scattering,” Journal of Magnetism and Magnetic Materials, Vol. 321, Issue 11, pp. 1699–1701, 2009.

Singh, P., Singh, C., and Singh, R.R., “LabVIEW-based Cost Effective Multi-axis Motion Control System,” India Conference (INDICON), Annual IEEE International Conference, pp. 1-5, 2011.

Szasz, C., “Fuzzy Strategy-based Position Control of Field-oriented PM-hybrid Stepping Motor,” Fuzzy Systems (FUZZ-IEEE’07), IEEE International Conference, pp.1-5, 2007.

Thao, N.G.M., Dat M.T., Binh T.C., and Phuc N.H., “PID-Fuzzy Logic Hybrid Controller for Grid-Connected Photovoltaic Inverters,” International Forum on Strategic Technology, pp. 104-144, 2010.

Thepsatorn, P., Numsomran, A., Tipsuwanporn, V., and Teanthong, T., “DC Motor Speed Control Using Fuzzy Logic Based on LabVIEW,” SICE-ICASE, IEEE International Joint Conference, pp. 3617-3620, 2006.

林芳宇，“牙髓病根管治療機器人之定位控制”，國立交通大學機械工程研究所，碩士論文，民國99年7月。

熊越，“超音波馬達之定位控制應用於牙髓病根管治療輔助裝置”，國立交通大學機械工程研究所，碩士論文，民國101年6月。

曹智強，“根管治療手術之力感測器設計與銼針力學分析”，國立交通大學機械工程研究所，博士論文，民國102年5月。

郭治宏，“牙髓病治療之鎳鈦合金銼針扭轉斷裂分析”，國立交通大學機械工程研究所，碩士論文，民國102年6月。