臺灣博碩士論文加值系統

組織切削手術已經廣泛的使用在外科手術上，許多人體器官，例如腎臟、心臟等，這些都是軟組織的器官。進行磨骨手術或者其他外科手術，切開皮膚跟肌肉也是最先進行的步驟，本研究即是針對軟組織來做變形跟切削。

在本研究中，我們以刀具的角度為主，避開複雜的交點計算，已達到及時的目的。在手術模擬的過程中，軟組織的變形跟切削，可以達到視覺連續的目的。我們使用複雜的整形手術，說明我們提出的方法的功能性跟實用性。

Tissue cutting operations are involved in most surgery. Many human organs such as the kidney, heart and liver are deformable soft tissues. Even in musculoskeletal surgery, cutting on skins or muscles is also operated before a surgeon operates on a joint or a bone.

In this research, we take cutter position angle as the core, avoid displaying cutter and nodical calculating miscellaneously, in order to reach the purpose to calculate immediately. In the display of our operation simulation,the deformation and cutting of soft tissue, can reach instant vision of purpose. A complicated anaplastic surgery illustrates the practicality and versatility of the proposed method.

目錄
摘要 I
Abstract II
誌 謝 III
目錄 IV
圖目錄 VI
第一章 導論 1
1.1 研究背景 1
1.2 研究目的 1
1.3 論文架構 2
第二章 力回饋裝置(PHANTOME)相關介紹 3
2.1力回饋器 Phantom Desktop硬體簡介 3
2.2 Haptic Device 安裝注意事項 5
2.3 Haptic Device API 6
2.4 Haptic Device API - Transform 矩陣 7
第三章 系統架構 10
3.1 系統程式結構 10
3.2 刀具的繪製 10
3.3 程式介面 11
3.4 新增程式流程 11
第四章 容積素結構 15
第五章 座標對應 18
5.1座標系統種類 18
5.2 Phantom座標對應到容積座標之轉換 19
第六章 刀具碰觸容積判定與Tool Extent計算 20
6.1 刀具碰觸容積判定 20
6.2 刀具每次callback移動的範圍 21
6.3 刀具與主軸平行線的交點計算 22
第七章 切削組織的判定與樣點顏色改變方法 26
7.1 切削組織的判定 26
7.2 樣點顏色的改變方法 27
第八章手術模擬實例及討論 28
8.1 程式介面及使用方法 28
8.2 手術模擬實例 30
8.3 結論與未來展望 33


中文參考文獻 34
英文參考文獻 35
作者簡介 38
附 錄 39



圖目錄
圖2.1 Phantom Desk 3
圖2.2 機器手臂活動方向 4
圖2.3 手把姿勢向量 9
圖2.4 transform位移量 9
圖3.1 刀具knife的示意圖 11
圖3.2 forceDialog ComboBox 12
圖3.3 計算切削量與組織判定之流程圖 14
圖5.1 座標系統種類 18
圖5.2 斷層掃描片堆疊示意圖 18
圖5.3 Phantom座標與volume座標轉換流程 19
圖6.1 刀具碰觸容積判定 20
圖6.2 cuboid計算示意圖 22
圖6.3 刀具主軸向量u對x軸旋轉θx角度 23
圖6.4 刀具主軸向量w對y軸旋轉θy角度 24
圖6.5 經由轉化過後的拋物體及主軸平行線交點 25
圖7.1 voxel 的操作 27
圖7.2 樣點顏色改變示意圖 27
圖8.1 程式介面及使用圖 28
圖8.2 刀具選擇及使用 29
圖8.3 手術前 30
圖8.4 手術過程 33

中文參考文獻
[翁01] 翁健欽 The approach to restrict different object’s surface in the same tissue type in volume，中原大學資訊工程學系碩士論文，2001

[蕭05] 蕭博文 Realization of Haptic Device under Volume Representation，中原大 學資訊工程學系碩士論文，2005

[張06] 張家峻 Drilling and Sawing Bone Operation Surgical Procedure
Simulation with Haptic Device，中原大學資訊工程學系碩士論文，2006

[陳07] 陳德展 Burring bone operation Surgical Procedure Simulations with Haptic Interaction，中原大學資訊工程學系碩士論文，2007

[戴07] 戴文治 Real-time Local Isosurface Reconstruction for multiple objects in a volume，中原大學資訊工程學系碩士論文，2007

[劉08] 劉岳倫 Burring bone operation Surgical Procedure Simulations with Haptic Interaction，中原大學資訊工程學系碩士論文，2008

[楊 08] 楊維喬 Volume Based Surgery Simulator Combining Burring Operation Simulations ，中原大學資訊工程學系碩士論文，2008







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