Kinematic Design of Double Pantographic Linkage for the Tele-Echography on Intra-Incubated Newborns

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謝佳育(Chia-Yu Hsieh) 查詢紙本館藏

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機械工程學系

論文名稱

(Kinematic Design of Double Pantographic Linkage for the Tele-Echography on Intra-Incubated Newborns)

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摘要(中)

有鑑於一些需要特別照護的新生兒被安置在新生兒保育箱中，為了監測他們的大腦發育，醫生需對嬰兒進行顱內超聲波檢查。然而，由於這種臨床護理的高重複性，採用遠程操作機器人系統的設計將能夠協助醫生完成這項任務，並且改善檢查過程中的品質。
本研究旨在設計一個符合運動需求的機械結構，使其能夠抓取超音波探頭伸入保育箱對嬰兒進行檢查。首先擷取超音波探頭操作的運動姿態數據以分析運動需求，本研究提出一種基於兩個組合縮放聯動的機械結構。第一個縮放機構執行終端效應器圍繞遠端運動中心的線性運動。第二個提供超音波探頭圍繞另一個遠端運動中心的角運動。接著計算正向和反向運動學模型以研究機構的線性和角度運動，並執行一系列運動模擬以驗證這些模型。最後完成機構設計，計算各軸的扭力需求來選用馬達。並製作控制面板，利用Arduino程式控制馬達使機構運作。

摘要(英)

Some newborns requiring particular care are placed in a neonatal incubator, in order to monitor their brain development, the doctor will perform an intracranial ultrasound examination of the baby. Due to the high repetition of this clinical care, the remotely operated robotic system is designed to assist doctors with this task and improve the quality of the inspection process.
This study aims to design a mechanical structure that meets the needs of motion, and is able to grasp the ultrasonic probe into the incubator to inspect the baby. First of all, the motion posture data of the ultrasonic probe operation is captured to analyze the kinematic requirement. A mechanical architecture based on two combined pantographic linkages is proposed. The first pantographic mechanism performs the linear positioning of the end effector around a remote center of motion. The second one provides its angular position of the ultrasound probe around another remote center of motion. The forward and inverse kinematic models are calculated to study the linear and angular positioning of the mechanism. A series of kinematic simulations are performed to validate these models. Finally, complete the mechanism design, calculate the required torque for each shaft to select the motor. Produce control panel, use the Arduino program to control the motor to actuate the mechanism.

關鍵字(中)

★ 機構設計
★ 縮放結構
★ 遠端超聲波技術
★ 運動學分析
★ 模擬

關鍵字(英)

★ Mechanism design
★ Pantographic architecture
★ Tele-echography
★ Kinematic analysis
★ Simulations

論文目次

Chinese Abstract i
English Abstract ii
Acknowledgments iii
Table of content iv
List of Figures vi
List of Table x
Explanation of Symbols xi
1. Introduction 1
1-1 Vision in intracranial ultrasound examination 1
1-2 Tele-echography robotic system 4
2. Specification Analysis of the Intracranial Ultrasound examination 15
2-1 Preliminary observations 15
2-2 Motion Capture Experiments 17
2-3 Kinematic Requirements of Intra-incubated Echography 19
3. Definition of the mechanical architecture 21
3-1 Perspective of RCM mechanisms 21
3-2 Kinematic design and analysis of the mechanism 24
3-2-1 Conceptual design 24
3-2-2 Forward kinematic model 26
3-2-3 Inverse kinematic model 28
3-2-4 Velocity model 30
3-3 Kinematic simulation on the mechanism 33
3-3-1 Kinematic model verification 33
3-3-2 Intracranial examination simulations 38
4. Design of robotic manipulator prototype 40
4-1 Design method of the robotic manipulator 40
4-1-1 Design of the proximal mechanism 41
4-1-2 Design of the distal mechanism 44
4-2 Linkage deformation 45
4-3 Motor Torques Calculation 46
4-3 Mechatronic implementation of the manipulator 51
5. Conclusion 54
Reference 55
Appendix A 58

參考文獻

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指導教授

伊泰龍(Térence Essomba)

審核日期

2019-7-18

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