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研究生:嚴邦維
研究生(外文):Pang-Wei Yen
論文名稱:醫療人員與微創手術機器人協作環境之最短距離推導
論文名稱(外文):Minimum Distance Derivation for a Minimally Invasive Surgical Robot under Human-robot Interaction
指導教授:顏家鈺顏家鈺引用關係
指導教授(外文):Jia-Yush Yen
口試委員:陳永耀何明志
口試日期:2018-06-29
學位類別:碩士
校院名稱:國立臺灣大學
系所名稱:機械工程學研究所
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2018
畢業學年度:106
語文別:英文
論文頁數:82
中文關鍵詞:微創手術人機協作三維距離深度感測避障
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  在醫療人員與機械手臂共同執行微創手術的趨勢下,使機械手臂自動避開人體,避免運作時的碰撞危險,以便保障醫療人員手術期間的安全,是本論文的動機與初衷。本論文之研究目標,設定在研擬機械手臂避障的對策之前,如何正確、快速找出醫療人員身體各部位,到機械手臂各個部份的最短距離,期待所找到的最短距離資訊,能夠作為避障控制的充分資訊。
  藉由微軟公司的深度攝影機 Kinect,與機器人學裡順向運動學的運用,手術醫師與機械手臂的特徵點便能在所建立之三維空間裡標定;在既有的研究文獻為基礎下,改變數值解的求解方式,提出了最短距離求解的修改方案,並以軟體模擬、硬體實驗等方式,證明所提出之計算方案的可行性與效率。
 Seeing the trend of robot-assisted minimally invasive surgeries evolves into a type of human-robot interaction, the research is motivated to pursue the safety of medical staff by the idea of obstacle/ collision avoidance of the surgical robotic arms, in case of robots accidentally injure surgeons. The goal of the research is to find the minimum distance between surgeons'' body parts and robotic arms. The minimum distance derivation should be sophisticated and fast enough, in order to support the collision avoidance control with complete minimum distance information.
 By the skeletal tracking feature of the depth sensor, Microsoft Kinect, theories on forward kinematics, the location of human and robot can be defined in a three-dimensional space. Based on existing researches, a revised, easier and even faster minimum distance derivation method is developed. This derivation method is applicable to the robotic arm in simulation and experiments, and fulfills the target of this research.
誌謝 i
中文摘要 ii
ABSTRACT iii
CONTENTS iv
LIST OF FIGURES vi
LIST OF TABLES ix
Chapter 1 Introduction 1
1.1 History Overview of Minimally Invasive Surgery 1
1.2 Obstacle Avoidance in Human-Robot Interaction 5
1.3 Research Goal and Motivation 6
1.4 Literature Review 9
1.5 Structure of the Essay 10
Chapter 2 Analysis on Location of Arms 12
2.1 Feature Points of Human Bodies 13
2.1.1 Hardware Overview – Microsoft Kinect 13
2.1.2 Depth Space Range of Kinect 15
2.1.3 Skeletal Tracking of Kinect 17
2.2 Feature Points of Robotic Arm 20
2.2.1 Model Simplification of Robotic Arm 21
2.2.2 Forward Kinematics of the Simplification Model 24
Chapter 3 Minimum Distance 31
3.1 Modelling of Human Arms and MIS Robot 31
3.2 Mathematical Operations 32
3.2.1 Concept 32
3.2.2 Algorithms 32
Chapter 4 Experiments and Results 41
4.1 Skeleton Point Distance Computing 41
4.2 Distance Derivation with a Parallel Cylinder Pair 44
4.2.1 Linear Displacements 46
4.2.2 From One Cylinder to the Other 49
4.2.3 Different Location of Minimum Distance 51
4.2.4 Arbitrary Movement 52
4.3 Robot Simulation 53
4.4 Robot Implementation 56
4.4.1 Programming Architecture 57
4.4.2 Experiment Process and Result 58
4.4.3 Joint Movement 61
4.5 Limited Skeletal Tracking 69
4.6 Result Discussion 72
Chapter 5 Conclusion 75
5.1 Contributions 75
5.2 Future Work 76
REFERENCE 78
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