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研究生:黃智雍
研究生(外文):Chih-Yung Huang
論文名稱:自動化雷射針灸系統之研發
論文名稱(外文):Development of Automatic Laser Acupuncture System
指導教授:王智昱
指導教授(外文):Chih-Yu Wang
學位類別:碩士
校院名稱:義守大學
系所名稱:生物醫學工程學系
學門:生命科學學門
學類:生物化學學類
論文種類:學術論文
論文出版年:2018
畢業學年度:106
語文別:中文
論文頁數:120
中文關鍵詞:自動化機械手臂機器視覺雷射針灸
外文關鍵詞:AutomaticRobotic ArmMachine VisionLaser Acupuncture
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摘要 I
Abstract II
致謝 III
目錄 IV
表目錄 IX
圖目錄 X

第一章 緒論 1
1-1 前言 1
1-2 研究背景 3
1-3 文獻回顧 4
1-3-1 自動化技術的發展 4
1-3-2 機器視覺研究 6
1-3-3 機械手臂研究 7
1-3-4 擴增實境研究 9
1-3-5穴位定位研究 9
1-4 研究目的 11

第二章 原理及應用 13
2-1 機器視覺 13
2-1-1 機器視覺作用原理 13
2-1-2 機器視覺深度量測技術 14
2-1-3 擴增實境技術 18
2-1-4 HSV色彩空間轉換 20
2-1-5 仿射變換 22
2-1-6 雜訊處理 24
2-2 機械手臂 25
2-2-1 機械手臂原理 25
2-3 系統作用與整合 28
2-3-1 相機校正 28
2-3-2 座標轉換 29
2-4 自動化雷射針灸系統功能評估 30
2-4-1 準確度與精確度評估 30
2-5 自動化雷射針灸系統效能評估 31

第三章 實驗設備與方法 33
3-1 實驗設備與軟體 35
3-1-1 深度攝影機 35
3-1-2 Python、OpenCV 36
3-1-3 機械手臂 37
3-1-4 提插雷射針灸儀 38
3-1-5 棋盤格 39
3-1-6 經絡檢測裝置 40
3-1-7 單通道腦波儀 40
3-2 事前準備 41
3-2-1 影像對齊 41
3-2-2 確定座標關係 43
3-3 穴位即時辨識系統 45
3-3-1 穴位標記 46
3-3-2 圖片處理 49
3-3-3 影像預處理 49
3-3-4 影像疊合 51
3-4 雷射針灸輔助定位系統 52
3-4-1 標記點追蹤 52
3-4-2 深度判斷 53
3-4-3 座標轉換 54
3-4-4 精準度量測 54
3-5 自動化雷射針灸效能驗證 55
3-5-1 腦波檢測 55

第四章 實驗結果與討論 56
4-1 雷射針灸輔助定位精準度量測 57
4-1-1 相機校正 58
4-1-2 深度量測與使用HSV色彩空間之顏色追蹤 59
4-1-3 座標轉換 63
4-1-4 雷射針灸輔助定位系統移動之準確度與精確度量測 67
4-2 穴位即時辨識效果評估 74
4-3 自動化雷射針灸系統整合功能評估 78
4-4 自動化雷射針灸系統效能驗證 84

第五章 結論與未來展望 92
5-1 結論 92
5-2 未來展望 93
參考文獻 94
自述 102
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