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研究生:黃庭豪
研究生(外文):Ting-Hao Huang
論文名稱:具力回饋的虛擬腹腔鏡手術模擬系統之研究
論文名稱(外文):A Study of Virtual Reality Based Laparoscopic Surgery Training System with Force Feedback
指導教授:林淵翔
指導教授(外文):Yuan-Hsiang Lin
口試委員:林淵翔
口試委員(外文):Yuan-Hsiang Lin
口試日期:2014-07-29
學位類別:碩士
校院名稱:國立臺灣科技大學
系所名稱:電子工程系
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:2014
畢業學年度:102
語文別:中文
論文頁數:51
中文關鍵詞:微創手術腹腔鏡手術虛擬實境力回饋
外文關鍵詞:minimal invasive surgerylaparoscopic surgeryvirtual realityforce feedback
相關次數:
  • 被引用被引用:2
  • 點閱點閱:171
  • 評分評分:
  • 下載下載:10
  • 收藏至我的研究室書目清單書目收藏:0
虛擬實境的腹腔鏡手術模擬系統因其可以有系統地記錄訓練狀況、能不受時間限制的反覆練習、以及其可擴張性,有漸漸取代傳統使用手術訓練箱的趨勢。但缺少做為執行手術時,用以判斷關鍵資訊來源之一的觸覺一直都是其最大的缺點。
本篇論文的目的,即開發一個具有力回饋的腹腔鏡手術模擬系統,利用一個可以提供力回饋的裝置Omni,來提供力回饋。透過建構虛擬膽囊切除手術場景及擬真腹腔鏡手術的器械,並利用實驗驗證的力回饋曲線來讓Omni模擬真實力回饋來提升虛擬實境的真實感。希望用戶透過操作我們的系統,提升其腹腔鏡手術技巧,並提高虛擬實境的訓練效率。
Virtual reality (VR) minimally invasive surgery simulation has become popular because it allows trainee repetitive practice on various cases at any time, and provides objective measurement to evaluate the developed skills. But most of the VR-based simulators are lack of the haptic feedback which captures important information about the surgeon’s laparoscopic skills. The purpose of this study is to use Omni, a motorized device that applies force feedback, to develop a real-time surgery simulation in virtual environment. We produced the realistic cholecystectomy surgery scene and create models are similar to traditional laparoscopic instruments. By using our system, the user is allowed to manipulate the Omni to interact with the virtual objects in order to enhance the realism of the training.
摘要 I
ABSTRACT II
誌謝 III
目次 IV
表目錄 VII
圖目錄 VIII
第一章 緒論 1
1.1 研究動機與目的 1
1.2 文獻探討 2
第二章 研究背景 5
2.1 腹腔鏡手術 5
2.2 腹腔鏡手術訓練介紹 6
2.3 虛擬實境與傳統模擬比較 8
2.4 開發環境介紹 8
2.4.1 Unity3D 9
2.4.2 程式語言 10
第三章 系統設計與方法 11
3.1 系統架構 11
3.2 擬真模組建立 12
3.2.1 3ds Max內臟模組建立 12
3.2.2 Blender手術工具製作 13
3.2.3 Unity3D場景建立 14
3.3 動作分析 15
3.3.1 穩定度訓練-組織剝離 16
3.3.2 Unity3D動作製作 16
3.4 硬體端整合 19
3.4.1 搖桿及踏板 19
3.4.2 Omni 20
3.4.3 手術刀結合Omni 21
3.4.4 程式整合Omni Driver 22
3.4.5 力回饋設置 24
3.5 手術模擬環境整合 26
3.5.1 操作畫面 26
第四章 實驗結果與討論 30
4.1 力回饋實驗設計 30
4.1.1 實驗方法 30
4.1.2 實驗結果與分析 33
4.1.3 力回饋演算法 36
4.2 臨床力回饋感受比較 36
4.2.1 實驗方法 36
4.2.2 實驗結果分析 40
4.3 組織剝離穩定度實驗設計 41
4.3.1 實驗方法 41
4.3.2 實驗結果分析 42
4.4 臨床外科醫師試驗心得 43
4.4.1 力回饋實驗心得 43
4.4.2 穩定度測試心得 44
第五章 結論與未來展望 45
5.1 結論 45
5.2 未來展望 45
參考資料 47
附錄 51
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