對於遠程超聲波檢查機器人機械手控制裝置的設計

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廖哲穎(Che-Ying Liao) 查詢紙本館藏

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機械工程學系

論文名稱

對於遠程超聲波檢查機器人機械手控制裝置的設計
(Design of a Control Device for a Tele-echography Robotics Manipulator)

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摘要(中)

新生兒的頭骨在 9 至 18 個月大之前具有解剖學特殊性：它由幾個分開的骨頭組成，這些骨頭留下一個稱為囟門的軟組織區。骨骼的逐漸骨化最終會閉合顱骨，形成一個單一的骨骼。由於囟門柔軟，可以使用超音波進行大腦檢查。這種醫療護理稱為顱內超聲波檢查(ICU)。然而，經常對待在觀察室裡保溫箱內的新生兒進行檢查，這使得醫生因為此動作的不合符效益而感到不舒服。
為了改進這種類型的研究，提出了用於遠程ICU檢查的遙控機器人。由於患者位於保溫箱內，因此開發了具有特定運動學的特定機器人操縱器，允許在保溫箱內使用的導航超聲探頭。為了完成遙測機器人系統，設計了一個控制裝置，讓兒科醫生可以遠程控制機械手臂。研究主設備的運動學以匹配從機械手臂並允許直接控制。此外，還實現了靜態平衡功能，允許設備自動補償重力效應。這不僅提高了操作者的舒適度，而且防止了操作者釋放設備時設備掉落。設計和製造原型用於測試。給出了裝置的靜平衡，並進行了控制實驗，證明了主控裝置的可行性。

摘要(英)

The skull of newborn children has an anatomical particularity before the age of 9 to 18 months: it is composed of several separated bones section that leaves a zone of soft tissues called the fontanelle. The progressive ossification of the bone will eventually close the skull forming one single bone. Due to the softness of the fontanelle, it is possible to use ultrasound to perform the examination of the brain. This medical care is called Intracranial Ultrasound (ICU) examination. However, it is often performed on newborns inside neonatal incubators in the observation room, which makes it uncomfortable and very repetitive for the doctor.
To improve this type of examination, the tele-operated robot for remote ICU examination is proposed. As the patient is located inside an incubator, a specific robotic manipulator had been developed with specific kinematic allowing the navigation of an ultrasound proves inside the incubator. In order to complete the tele-echography robotic system, a control device is designed to allow the pediatric doctor to remotely control the manipulator. The kinematics of the master device is studied to match the slave manipulator and allow an intuitive control. Also, a static balancing feature is implemented to allow the device to automatically compensate for the gravitational effect. This not only improves the operator’s comfort but also prevent the device from dropping when it is released by the operator. A prototype is designed and fabricated for testing. The static balancing of the device is shown and the control experiment is carried out, proving the feasibility of the master control device.

關鍵字(中)

★ 機器人學
★ 遠端超聲成像術
★ 運動學
★ 控制裝置
★ 靜平衡

關鍵字(英)

★ Robotics
★ tele-echography
★ kinematics
★ control device
★ static balancing

論文目次

Abstract i
English Abstract ii
Acknowledgments iii
Table of content iv
List of Figures vi
List of Table viii
Explanation of Symbols ix
1. Introduction 1
1-1 Intracranial echography on incubated newborn 1
1-2 Literature review on tele-echography robot 2
1-3 Examples of control devices 5
1-4 Objectives and summary 6
2. Kinematic of the control device 8
2-1 Kinematic of the slave robot 8
2-2 Homothetic kinematics of the master device 11
3. Static balancing of the control device 15
3-1 Potential energy conservation method 15
3-2 Evolution of the gravitational potential energy 16
3-3 Generation of elastic potential energy 17
3-4 Static balancing results 19
4. Mechatronic design of the control device 21
4-1 Mechanical design and parameters 21
4-2 Simulation and prototype testing 23
5. Conclusion 29
Reference 30

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指導教授

伊泰龍(Térence Essomba)

審核日期

2021-9-6

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