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研究生:張家峻
研究生(外文):Chia-Chun Chang
論文名稱:利用力回饋裝置模擬具觸感的鑽及鋸骨科手術
論文名稱(外文):Drilling and Sawing bone operation Surgical Procedure Simulations with Haptic Interaction
指導教授:蔡明達蔡明達引用關係
指導教授(外文):Ming-Dar Tsai
學位類別:碩士
校院名稱:中原大學
系所名稱:資訊工程研究所
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2006
畢業學年度:94
語文別:中文
論文頁數:67
中文關鍵詞:樣點力回饋器容積顯像
外文關鍵詞:sample pointfeedback systemVolume rendering
相關次數:
  • 被引用被引用:2
  • 點閱點閱:198
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容積立體顯像已經廣泛的應用在醫學上,力回饋器結合容積立體顯像,讓外科醫生不用作臨床上的手術也能感覺到手術工具產生的力回饋的效果,在容積系統中當工具碰觸骨頭組織時,程式會根據使用者所選取的工具讓力回饋器傳回適當的力量,因此未經過臨床手術的醫師或學生,可利用力回饋器達到訓練的效果。
  
  本論文說明如何利用已完成的容積顯像系統以及硬體力回饋器來模擬臨床手術過程中產生的力回饋之力量,在骨骼容積顯像中利用OpenGL來繪製我們所需要的手術工具,利用來自工具所提供的資訊像是鑽頭的半徑,鋸子的寬度…等,來製作力回饋器所需要用的感應點,程式中的感應點將會帶有許多資訊來計算程式所需要提供的力回饋力量,最後將感應點座標對映到力回饋器系統下的座標,如此我們便可達到視覺以及觸覺上即時的模擬效果,我們將程式計算完成的力量對應上力量方向就能達到我們模擬工具震動的力量效果。
Volume rendering is already applying to medial science extensively. The feedback device combines volume rendering, let surgeon can feel force feedbacks produced by operation tool without doing clinical operation. When simulate operational tool touch bone under volume rendering, feedback device will return suitable force accounting to tool type that chose by user in the program. Therefore, doctors or students whom never operate clinical surgery can utilize the feedback device to get the purpose of training.

This paper shows how to utilize volume rendering that has been already finished and hardware force feedback device to simulate feedback force of clinical surgery process. We used OpenGL to draw our operation tool under volume rendering. Then, we utilize information offered of tool, like radius of drill, width of saw…etc. We use this information to make our response of sample point. There much information in response of sample point is used to calculate our need of feedback force that offered of hardware in the program. Finally, we correspond coordinate of sample point to coordinate of feedback system. Therefore, we can achieve result of vision and sense of touch immediately. We correspond force that calculated by program to direction of force, then, we can achieve better result that we simulated shaking of tool.
第一章. 緒論 6
1.1研究背景 6
1.2研究目的 7
1.3論文架構 7
第二章. 力回饋裝置(Phantom)及相關研究 9
2.1 力回饋器Phantom 硬體簡介 9
2.2 Haptic Device 安裝注意事項 11
2.2-1 PC的選購 11
2.2-2 PC上連接phantom傳輸設定 12
2.2-3 硬體相關問題 13
2.3 Haptic Device API 13
2.4 Haptic Device API 指令函式蓋述 15
2.5 Haptic Device API - Transform 矩陣 18
第三章 系統架構 21
3.1系統程式結構 21
3.2程式介面 22
第四章.Drill以及Saw模擬繪製 24
4.1繪製物件環境以及蓋述 24
4.2利用OpenGL實行手術工具的繪製以及工具上樣點的繪製 25
4.2.1 鑽頭工具繪製 25
4.2.2鋸子(SAW)工具繪製 27
4.3 phantom手把姿勢模擬 28
第五章工具樣點的計算與樣點旋轉 30
5.1 Drill樣點的計算 30
5.1.1 Cutting lip sample point 30
5.1.2 Chisel edge sample point 31
5.1.3 Sample Point Calculation Algorithm 31
5.2 Saw 樣點計算 32
5.2.1 Saw Cutting lip sample point 33
5.3鑽頭樣點與旋轉的關係 34
5.4對應的手把軸向關係 34
5.5樣點與volume物件旋轉的變化關係 35
第六章.座標對應 39
6.1 座標系統種類 39
6.2 Phantom座標與volume座標轉換與結合 40
6.3 Phantom座標與樣點座標轉換與結合 41
第七章.骨頭碰觸模擬 45
7.1鑽頭樣點碰觸模擬 45
7.2碰觸骨頭回傳力量方向計算 48
第八章.力量計算 49
8.1 drill力量計算 49
8.1.1 drill力量速率計算 50
8.1.2Cutting lip力量計算 51
8.1.3chisel edge力量計算 51
8.2鑽頭跟旋轉角度之力量計算 52
8.3 drill torque之力量計算 53
8.4力量回傳方向對應 53
8.5 saw力量計算 56
8.5.1 saw力量計算 56
第九章鑽頭切削的顯示 58
9.1切削方法及製作 58
第十章 結果與討論 61
10.1結果顯示 61
10.2結論與討論 65
參考文獻 67
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