臺灣博碩士論文加值系統

微創手術是近代醫療中相當熱門的領域，優點在於傷口小、復原快，能夠減低醫療資源的消耗，提升醫療機能。本論文針對其中的骨釘手術作更近一步的研究。手術中，目前骨釘尖端的定位是藉由刀具上安裝反光球，紅外線感測器由反光影像訊號計算出尖端位置及姿態角。但若是反光球受到遮蔽，就無法得到位置及姿態角資訊。本文將探討藉由慣性感測器改善紅外線定位感測器在受遮蔽時之定位效果。先以二維平面運動模擬做偏差估測對其改善之狀況，並從模擬結果得到偏差估測能有效改善定位之效果。本論文以NDI公司生產之紅外線感測器及MEMSIC公司生產之慣性感測器為實驗設備，分別做靜態及動態實驗。由於真實狀況會比模擬有更多因素需要考慮，本論文在實驗中會將各個環節做一個比較和探討。

Minimally invasive surgery is quite popular in modern medical treatments, the advantage includes small wound and fast recovery. It also has the possible to reduce the unnecessary use of medical resources and improve the efficiency of the medical system. In this thesis, we focus on the pedicle screws surgery. Currently, tracking the tip of the tool is accomplished by mounting the reflective balls on the tool and using infrared sensor, and the outputs include the position and attitude of the tool based on the reflective images. However, if the viewing of the reflective balls is obstructed, the sensor fails to get the position and attitude information. This thesis explores the possibility of using the inertial measurement unit to compensate the infrared sensor during theperiod when the reflective balls are not visible to the IR camera. The simulation of a 2D motion has been performed to investigate the improvement by bias estimation. The experiments are subsequently conducted to confirm the effect of bias estimation. In this work, the infrared sensor made by NDI and the IMU made by MEMSIC are used. Both static and dynamic experiments are conducted. Since the realistic applications of the proposed method involve sophisticated signals processing and coordinate transformation, which partly hindered the performance of the algorithm. The factors that affecting the accuracy of the estimations are discussed.

第一章 緒論
第二章 硬體介紹
第三章 實驗原理
第四章 實驗架構及結果
第五章 結論

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