應用於股骨復位手術中之機器人機構設計

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阮富生(Nguyen Phu Sinh) 查詢紙本館藏

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機械工程學系

論文名稱

應用於股骨復位手術中之機器人機構設計
(Design of a Robotic Mechanism for Femur Reduction Surgery)

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至系統瀏覽論文 (2026-5-5以後開放)

摘要(中)

斷裂成兩段的骨頭常見於股骨、脛骨、肱骨等嚴重縱向骨折案例中，此些案例需進行精密的骨復位手術重新定位及連接斷裂的骨頭，以保證骨頭的再生。骨復位手術為一將斷裂骨頭碎片重組於其原始位置上的手術。人工骨復位手術(包含開放式及微創式)在操作最大的困難為需施以較大的力以克服組織黏著力，才能進行骨頭復位;人工骨復位手術的另一困難點為需要影像導航的手術環境中，施作者將暴露於高輻射環境中，為了克服此問題，擁有高精準度及穩定性之機器人輔助復位系統成為了最佳的選擇。
為了開發骨復位手術機器人輔助系統，本論文研究並應用了不同的機構設計概念，首這些計包含兩個由3-RPS並聯機構及平面並聯機構組成之新型6-DoF複合並聯機器人手臂。此後，以三桿件連接兩個6-DoF並聯機器人手臂已完成骨復位手術輔助機器人之機構設計。我們利用Matlab及Adams View所有骨復位手術機器人機構之運動學模型及速度分析，以驗證機器人手臂之運動學模型及速度分析模型，本文亦對此新型6-DoF複合並聯機器人手臂及傳統應用於骨復位領域的Stewart機器手臂進行工作空間之比較。
在骨復位手術前，可使用手術規劃模擬軟體 PhysiGuide進行機器人手臂操作之規劃，模擬過程中，測量骨斷裂之運動學相關資料，並及傳輸予實體機器人手臂。模擬資訊是基於真實病患骨斷裂的影像，模擬將能夠顯示手術機器人於骨復位手術中是否適用。本文亦製作了此手術機器人的原型，並進行了股骨模型復位手術的測試及驗記。

摘要(英)

In the most severe cases of longitudinal bone fractures such as femur, tibias, humerus, etc., the bone can be completely separated into two fragments. In order to guarantee the re-ossification of the bone, it is required to reposition the bone fragments together. This process requires a delicate surgery called “bone reduction surgery”. It consists of relocating the different pieces of the same bone in their original position. In manual bone reduction surgery (both opened and minimally invasive), the surgeons have to use a considerable amount of physical strength to relocate to bones because of the natural recall force applied by the patient’s anatomy (muscular tissues and tendons). Another problem is the hazardous environment of image-guided surgery. Indeed, while surgeons must perform these mechanism adjustments, both surgeons and patients are subject to excessive X-ray exposure during the procedure. Unlike patients, surgeons will suffer from repeated exposures to the radiation generated by the medical imaging system. In order to solve these problems, a technique based on the use of robotic-assisted fixation systems has become one of the best choices. The most advanced technique relies on robotic manipulators providing higher precision and stability.
With the objective of developing a robotic manipulator for this application, a series of mechanism concepts are studied in the present report. Two new 6-DoF hybrid parallel manipulators are firstly proposed based on a 3-RPS tripod parallel mechanism combined with a double triangular planar parallel mechanism. Then, two 6-DoF parallel manipulators with three limbs were investigated. For each mechanism, the kinematic and velocity models are calculated. In order to validate the analytical solutions of kinematic and velocity analysis, a series of the simulations are carried out on two software: Matlab and Msc Adams View. The workspace they can generate is compared to the Stewart manipulator, which is a classical mechanism for the targeted application.
The use of a robotic manipulator is due to be part of an entire surgical procedure involving a pre-operative simulation software dedicated to pre-planning reduction surgery, namely PhysiGuide. In this study, it is used to measure the kinematic associated with bone fragments manipulation and to transfer these data to the robot during a simulated intra-operative phase. Simulations are then performed based on a real patient’s fracture images showing the suitability of the proposed mechanisms with bone reduction surgery. A series of prototypes are fabricated and tested on a femur bone model.

關鍵字(中)

★ 骨復位
★ 複合機構
★ 平面機構
★ 三角形機構
★ 運動學模型
★ 工作空間

關鍵字(英)

★ bone reduction
★ hybrid architecture
★ planar mechanism
★ tripod mechanism
★ kinematic simulation
★ workspace

論文目次

摘要 i
Abstract ii
Acknowledgements v
Table of Contents vi
List of Figures ix
List of Tables xiii
Chapter 1. Introduction 1
1-1 Surgical treatment of diaphyseal fractures 1
1-1-1 Embedded parallel architectures 5
1-1-2 Embedded serial architectures 7
1-1-3 Deported mechanisms 7
1-2 Kinematic requirements of bone reduction surgery 9
Chapter 2. Kinematic Analysis and Evaluation of Two types of Hybrid Mechanism for Computer Assisted Bone Reduction Surgery 13
2-1 Literature review on the hybrid parallel mechanisms 13
2-2 Design of the bone reduction hybrid tripod – planar mechanism (TpPn) 16
2-2-1 Mechanical architecture concept 16
2-2-2 Kinematic analysis of the mechanism 17
2-2-3 Velocity model and singular configurations of the TpPn mechanism 20
2-2-4 Validation of the mechanism kinematic and velocity models 25
2-3 Design of the bone reduction hybrid planar – tripod mechanism (PnTp) 28
2-3-1 Mechanical architecture concept 28
2-3-2 Kinematic analysis of the mechanism 29
2-3-3 Velocity model and singular configuration of the mechanism 34
2-3-4 Validation of the mechanism kinematic and velocity models 39
Chapter 3. Kinematic Analysis and Evaluation of Two Types of Tripod Mechanisms for Computer Assisted Bone Reduction Surgery 42
3-1 Literature review on the augmented tripod 42
3-2 Design of the bone reduction 3-RRPS parallel manipulator 44
3-2-1 Mechanical architecture concept 44
3-2-2 Inverse kinematic model of the mechanism 46
3-2-3 Forward kinematic model of the mechanism 49
3-2-4 Velocity model of the mechanism 53
3-2-5 Singularity configurations of the mechanism 54
3-2-6 Validation of the mechanism kinematic and velocity models 57
3-3 Design of the bone reduction 3-RPSP parallel manipulator 60
3-3-1 Mechanical architecture concept 60
3-3-2 Inverse kinematic model of the mechanism 61
3-3-3 Forward kinematic model of the mechanism 63
3-3-4 Velocity model of the mechanism 66
3-3-5 Singular configurations of the mechanism 68
3-3-6 Validation of the mechanism kinematic and velocity models 70
Chapter 4. Bone Reduction Simulation and Experimentation 74
4-1 Bone reduction simulation 74
4-2 Prototype design and experimental evaluation 80
4-2-1 Prototype design and experimental evaluation of the hybrid mechanism 80
4-2-2 Prototype design and experimental evaluation of the 3-RRPS mechanism 84
4-2-3 Prototype design and experimental evaluation of the 3-RPSP mechanism 87
Chapter 5. Workspace Determination and Comparison of the Mechanisms 92
5-1 Workspace determination 93
5-2 Mechanisms comparison 100
Chapter 6. Conclusion and Perspective 104
6-1 Conclusion 104
6-2 Perspective 106
References 108
Publications 117

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指導教授

伊泰龍(Terence Essomba)

審核日期

2021-5-4

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