骨磨手術可做細緻的切割或磨亮骨頭和關節，且廣泛使用於外科、耳鼻喉科及整形外科手術。而其中的圓錐形手術刀具更可以處理到一般使用的球形刀具所做不到的精細切磨。而圓錐形刀具更能在複雜形狀磨平骨頭，更為整形外科使用。本論文除了使用一般常用的圓形刀具來模擬，也敘述了圓錐形刀具的手術模擬方法，以利臨床醫師術前練習及驗證手術術式。

Burring surgery is widely used in orthopedic, oral and maxillofacial, and ENT departments to delicately cut or polish bone and joint. The cylinder cutter also can deal with more subtle cutting than burr cutter. The cylinder cutter even can grind bone more smooth on complicated shape, the plastic surgery use it usually. In this research, we use burr cutting to simulate and also describe the cylinder cutting simulation method , in order to practice before operation and test accuracy of operation for doctor.

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 PHANTOME的系統需求及安裝注意事項 5
2.3 Haptic Device API 7
2.4 Haptic Device API – Transform矩陣 7
第三章 系統架構 9
3.1 系統程式結構 9
3.2 刀具的繪製及Haptic Device模擬實際刀具手把姿勢 9
3.3 程式介面 10
第四章 刀具的設計理論 12
4.1 刀具的容積素化 12
4.2 Voxelization與Voxel的比對 13
4.3 以刀具表面樣點分布來預估刀具各部份切削量的切削力 14
第五章 手術模擬系統的功能與執行 16
5.1 手術模擬系統的功能介紹 16
5.2 手術模擬系統的執行 – 移動 16
5.3 手術模擬系統的執行 – 癒合 17
第六章 手術模擬過程與結果 19
6.1 系統介面使用方式 19
6.2 手術模擬實例 20
6.3 結論與未來展望 31
中文參考文獻 32
英文參考文獻 33
作者簡介 37
附錄1 38
附錄2 39
附錄3 40
附錄4 41

圖目錄
圖2.1 Phantom Desktop 3
圖2.2 使用力回饋器姿勢 4
圖2.3 機器手臂活動方向 5
圖2.4 Phantom Configuration 6
圖2.5 手把姿勢向量 10
圖3.1 刀具burr的示意圖 12
圖3.2 12
圖3.3 forceDialog ComboBox 13
圖4.1 經由轉化過後的圓錐體及主軸平行線交點 15
圖4.2 刀具形狀為圓錐體樣點初始圖 17
圖5.1 移動 19
圖5.2 癒合 21
圖6.1 程式介面及使用圖 23
圖6.2 選擇手術執行功能 24
圖6.3(a) 病患耳朵骨頭重建圖 25
圖6.3(b) 視野拉近 25
圖6.4 對於框起來的部份做切削 26
圖6.5 耳朵外部切削後的樣子 26
圖6.6 準備把藍色那塊聽骨與其他骨頭分離 27
圖6.7 藍色聽骨與其他骨頭分離的樣子 27
圖6.8 把要處理的那部分骨頭移到外面做處理 28
圖6.9 準備利用burr讓這塊骨頭平滑ㄧ點 28
圖6.10 使骨頭平滑中 29
圖6.11 平滑後的骨頭樣子 29
圖6.12 準備移動回原來的位置 30
圖6.13 手術完成 30
圖6.14 手術前 – 正面 31
圖6.15 手術前 – 側面 32
圖6.16 開始磨平額頭 32
圖6.17 磨平額頭中 33
圖6.18 對顴骨開始磨平 33
圖6.19 顴骨磨平完畢 34
圖6.20 手術後 – 正面 34
圖6.21 手術後 – 側面 35

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