臺灣博碩士論文加值系統

膠囊內視鏡相較於傳統內視鏡具有舒適性、無需麻醉且能觀測到整個大腸的各項優勢。在內視鏡的領域中，已然被視為一個具有吸引性的消化道檢查方式。然而相較於主動式控制的傳統內視鏡，膠囊內視鏡卻因無法主動受控，只能被動的順著腸道蠕動以及靠著膠囊本身重力順著腸道往下移動，故在病灶處常常漏掉了許多重要的鏡頭。因此如何控制體內之膠囊內視鏡已經成為國際上各個團隊的研究重點，其中又以體外磁場控制方式最具前瞻性。在探討各國研究概況後，我們發現以手持式體外磁場控制的方式是最直接且有效的，但其重量負擔卻是一大缺點。因此，本團隊希望基於先前對於磁控膠囊內視鏡研究，搭配磁定位、機器視覺等，開發一套磁控牽引平台(MFN Platform)，此平台為一系統整合介面，其中必須包含硬體機構取代醫生拿著牽引磁鐵作操控。軟體部分必須整合搖桿訊號輸入、影像訊號輸入、控制訊號輸出等，另外整合輔助醫生的影像處理技術與磁鐵定位等系統，此有助於醫生對腸道的判斷與對在腸道內空間邊界的認知。這套系統將可創造出對醫生更友善的操作環境，也將實驗過程數據化，提供手術後檢討與學術研究。本論文將以本團隊操作MFN Platform結果進行分析，未來會邀請醫生與其他專業團隊參與實驗操作。

Compared with traditional endoscopy, capsule endoscopy is more comfortable, without anesthesia and can observe the entire large intestine. It has been viewed as a quite attractive approach for digestive tract examination in endoscopy field. However, compared with the traditional endoscopy of active controlling, capsule endoscopy cannot be manipulated and it just only can passively move by its gravity and the peristalsis of the digestive system, which may cause the losses of lots of important pictures around the lesions. Therefore, how to make capsule endoscopy more controllable has become a big issue to many research groups all over the world. Among the many approaches, manipulating capsule endoscopy with magnetic field outside the human body is the most promising method.After comparison between the results of each research group, controlling the capsule with a magnetic handheld controller is the most direct and most effective approach to controlling the capsule endoscopy, but an excess weight of the handheld controller is a big disadvantage. Therefore, our team hopes to develop a Magnetic Field Navigator Platform (MFN Platform) based on the previous study of magneto-controlled endoscopy, magnetic localization, and computer vision. The MFN Platform is a system integration interface, which includes mechanism instead of a doctor holding a traction magnet for manipulation. The software part is integrated joystick signal input, video signal input, the control signal output, etc. The integration of computer vision system and magnet localization system, which help the doctor understand the intestinal and edge of intestinal internal space. The system will create a friendly operating environment for the doctor, and also save experimental process data to provide postoperative review and academic research. In the thesis, we use the result of the operation of our team for analysis. We will invite doctors and other professional team involved in the experimental operation in the future.

口試委員會審定書 i
致謝 ii
中文摘要 iii
ABSTRACT iv
目錄 v
圖目錄 viii
表目錄 xvi
第1章 緒論 1
1-1 研究背景 1
1-2 研究動機 3
1-3 論文架構 4
第2章 磁控膠囊內視鏡介紹 5
2-1 目前各界對於膠囊內視鏡的構想及研究概況 5
2-1-1 日本東北大學膠囊內視鏡磁場控制系統研究概況 6
2-1-2 義大利比薩大學研究概況 13
2-1-3 美國猶他大學對磁控膠囊方法的研究 19
2-1-4 台灣大學膠囊內視鏡磁場控制系統研究概況 23
2-1-5 韓國科學技術研究院膠囊內視鏡磁場控制系統研究概況 29
2-1-6 麻省理工學院 "Origami" Robot 31
2-1-7 比較表 33
2-2 MFN Platform系統 35
2-2-1 磁控系統操作流程圖 36
2-2-2 電腦視覺的探討 37
2-2-3 磁定位系統 38
第3章 磁鐵特性與轉動磁場理論式 41
3-1 永久磁鐵材料特性 41
3-1-1 最大導磁率(Maximum Permeability) 41
3-1-2 機械強度(Mechanic Intensity) 41
3-1-3 磁滯曲線(B-H curve) 42
3-1-4 磁偶極矩 46
3-1-5 磁能 48
3-1-6 磁矩 48
3-2 磁鐵於空間之磁場理論式 49
3-3 不同運動模式之磁偶極矩對空間中特定點之磁場理論式 49
3-3-1 磁偶極矩之轉動模型 50
3-3-2 定點磁偶極矩搭配不同轉動模式對空間中參考點之磁場 53
3-3-3 移動磁偶極矩搭配不同轉動模式對空間中參考點之磁場 57
第4章 實驗系統架構 62
4-1 硬體架構 62
4-1-1 EXTREME 3D PRO JOYSTICK 62
4-1-2 MFN Platform機構 63
4-1-3 攝影鏡頭 66
4-2 電路架構 67
4-2-1 電路元件 67
4-2-2 Power Supply 72
4-3 軟體架構 73
4-3-1 Micro Controller Unit(MCU) 73
4-3-2 Winform UI 75
4-4 系統架構 80
第5章 成果討論 81
5-1 實驗流程與參數 81
5-1-1 實驗流程 81
5-1-2 實驗參數 82
5-2 磁場模擬結果 88
5-2-1 實驗一力矩圖 89
5-2-2 實驗二力矩圖 90
5-2-3 跟隨狀況下平移模式之磁場 91
5-2-4 跟隨狀況下轉動模式之磁場 92
5-2-5 跟隨狀況下擺動模式之磁場 93
5-2-6 脫離狀況下平移模式之磁場 94
5-2-7 脫離狀況下轉動模式之磁場 95
5-2-8 脫離狀況下擺動模式之磁場 96
5-3 影像輔助結果 97
5-3-1 比較表 99
5-4 磁控牽引結果討論 100
5-4-1 實驗報表 100
5-4-2 負載變化 103
5-4-3 不同高度 111
5-4-4 操作時間 112
5-5 實驗操作心得 113
第6章 結論與未來展望 114
6-1 結論 114
6-2 未來展望 115
參考文獻 116

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