手術用影像導引機械人定位及鑽孔系統

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姓名

黃教琪(Chiao-Chi Huang ) 查詢紙本館藏

畢業系所

機械工程研究所

論文名稱

手術用影像導引機械人定位及鑽孔系統
(Development of an Image-Guided Robotic System Used for Surgical Positioning and Drilling)

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摘要(中)

隨著電腦科技的發達，應用電腦輔助手術已成為一種趨勢。在本研究中，我們發展出一套影像導引機器人系統，可讓醫師透過影像中之規劃並導引機器人移動手術器械至所規劃之方位，主要的應用是穿刺取樣之定位及骨科鑽孔手術。本系統主要包括了一台個人電腦負責整合系統內軟體及周邊設備間的通訊，一台可量測手術器械及機器人方位的光學式定位裝置，及一具可引導手術器械至規劃方位的機器手臂。
在貼了附加標記的病人經過了CT掃描後，可透過附加標記於影像及裝置上的座標來校準影像及裝置座標系間之方位轉換關係，也可透過固定於機器手臂上的DRF於此二座標系上的座標來校準裝置與機器人座標系間之方位轉換。當影像、裝置及機器人座標系間的方位轉換都完成校準後，在影像中所規劃出的器械方位就可被轉換至相對於機器人座標系，並進而可透過光學式定位裝置導引機器人移動手術器械至所規劃之方位。另外，在加裝了電鑽並透過力量控制下，機器手臂足以對骨頭沿著鑽孔方向作有效的鑽孔。
實驗是在骷顱模型及豬的股骨上進行的，在經過多次的實驗下發現本系統空間定位誤差約在2mm及0.23?以下。

摘要(英)

Nowadays, 3D medical image technology undergoes a rapid growth. Using computer-assisted surgery has become a trend in novel surgical procedure. In this research, we have developed an image-guided robotic system that can be used for positioning biopsy needles and drilling fixation holes according to the preoperative planning on the images. The system is divided into three parts: a PC that integrates all system software, a 3D localizer that tracks the positions of the robot and devices, and a robot arm that guides surgical tools to the target position.
After the patient with fiducial markers has received CT-scanning, the registration between the images and localizer frames can be done by finding the spatial correspondence between the image and localizer coordinates of the markers. The DRF mounted on the robot is used for the registration between the localizer and robot frames, and also for positioning guidance of the robot. Once all registrations have been completed, the planned surgical path on the computer can be transformed to the robot frame, and the robot will automatically move to the planned location. Moreover, the robot with an electrical drilling device mounted on the end effector is capable of doing drilling procedure under the control of cutting forces.
Currently, the system has been tested only on phantoms and cadavers of swine. Through extensive tests of this system, there are no unexpected failures. The positioning error is about 2 mm and orientation error is about 0.23?.

關鍵字(中)

★ 影像導引機器人
★ 校準
★ 穿刺取樣

關鍵字(英)

★ Calibration
★ Image-guided surgery

論文目次

ABSTRACT……………………………………………………………I
CONTENTS………………………………………………………………II
LIST OF FIGURES …………………………………………………………IV
LIST OF TABLES……………………………………………………………VI
CHAPTER 1.INTRODUCTION………………………………………1
1-1Motivation………………………………………………………1
1-2Previous Works…………………………………………………2
1-3Research Approach……………………………………………4
1-4Organization of the Thesis…………………………………5
CHAPTER 2.SYSTEM ARCHITECTURE ……………………………7
2-1System Operative Flow………………………………………7
2-1-1Terminology……………………………………………………7
2-2Hardware Architecture………………………………………9
2-3Software Architecture………………………………………12
2-3-1System Software………………………………………………12
2-3-2Treatment Planning……………………………………………13
CHAPTER 3.IMAGE GUIDED ROBOTIC NAVIGATION………………16
3-1Registration Between the Image and Patient Frames…17
3-2Motion Analysis of Surgical Robot………………………18
3-3Calibration between DRF and the tool tip………………22
3-3-1Positional Offset Calibration……………………………23
3-3-2Angular Offset Calibration……………………………25
3-4Registration Between the Localizer and Robot Frames..…27
3-5Fine-tuning Approach………………………………………28
3-6The Registration Validity During Intervention………30
3-7Calibration Block……………………………………………31
3-8Safety Consideration………………………………………34
CHAPTER 4.SURGICAL APPLICATION IN BIOPSY AND DRILLING…35
4-1Biopsy…………………………………………………………35
4-1-1Characteristics of Robotic Biopsy………………………37
4-1-2Setup of the Robotic Biopsy Device………………………37
4-2Drilling…………………………………………………………40
4-2-1Characterization of Robotic Drilling Bones……………40
4-2-2Control Strategy………………………………………………41
4-2-3Setup of the Robotic Drilling Device……………………42
CHAPTER 5.EXPERIMENT RESULTS AND DISCUSSION……………46
5-1Image-Guided Robotic Biopsy Experiment…………………46
5-1-1Calibration of the robotic biopsy………………………46
5-1-2Image-Guided Robotic Navigation…………………………49
5-2Image-Guided Robotic Drilling Experiment………………53
5-2-1Calibration of the Robotic Drill..………………………53
5-2-2Image-Guided Robotic Drill Navigation…………………55
5-2-3Drilling Experiment…………………………………………56
5-3Experiment of the Using of the Calibration Block……58
5-4Discussion Conclusion………………………………………59
CHAPTER 6.CONCLUSION………………………………………60
REFERENCE……………………………………………………61

參考文獻

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指導教授

曾清秀(Ching-Shiow Teseng)

審核日期

2001-7-11

推文