微創手術機械手臂之動態模擬與分析

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姓名

黃柏淙(Bo-Tsung Huang) 查詢紙本館藏

畢業系所

機械工程學系

論文名稱

微創手術機械手臂之動態模擬與分析
(Dynamics Simulation and Analysis in the Endo Wrist of Minimally Invasive Surgery(MIS))

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摘要(中)

微創手術已儼然漸漸成為目前許多重要手術的主流，但目前所面臨的其中一個問題為---當醫生藉由3-D影像來操控機械臂的時候，並沒有辨法像傳統手術一樣去感受其力道大小。
本論文主要研究內容為微創手術機椷臂在執行手術時的一些動態行為與探討其受力情形。使用之軟體為Unigraphics、Matlab、MSC Visual NASTRAN 4D等三套。在分析過程由於必須精準地知道機械臂的位置與馬達的轉角，所以預先採用了順向及逆向運動學來推導整個機械臂的動態平衡方程式。先以Unigraphics建立模型，再以Matlab做數值運算，最後載入MSC Visual NASTRAN 4D 做動態模擬與分析。
模擬的部分包括機械臂夾針頭、針頭在兩個機械臂間的傳遞，最後進一步地分析夾針頭時的動態受力情形來探討此機械臂是否有改善的空間;此外，如果能在機械臂加上一個感測器，讓感測器可以用來做為力回饋的依據，將其數據表現在3-D螢幕地兩旁更可以有效改善醫生手術時的效率。

摘要(英)

Minimally invasive surgery (MIS) is becoming the mainstream of some important surgeries. One problem that bothers the surgeon is that when he manipulates the endo wrist by seeing the 3-D imagine, he can not sense the force feedback just as the traditional surgery.
The research contents of the thesis focus on the kinematic behavior and the distribution of the loading in the minimally invasive surgery. The softwares such as Unigraphics、Matlab、MSC Visual NASTRAN 4D were uesd for dynamic simulation. Before analyzing, precise postion of the wrist and the angle of the motors must be previously known. The equilibrium equation of motion was derived by using the forward and inverse kinematics in advance. First of all, I used the Matlab to apply numerical analysis, the second, I built up the model by using Unigraphics, finally, I put them to the MSC to simulate the kinematics.
The simulation included the wrist clamp the needle、the needle was delivered between the two wrist and some distributions of kinematic loading when wrist clamped the needle. According to the result the possibility of installing a sensor on the wrist were discussed. The sensor could be the basement of the force feedback, if the data of the sensor could be use to display on the 3D monitor, I think it would improve the efficiency when surgeon operates the surgery.

關鍵字(中)

★ 微創手術機椷臂
★ 感測器
★ 動態模擬與分析

關鍵字(英)

★ Endo wirst in MIS
★ Sensors
★ Dynamics simulation

論文目次

摘要 ……………………………………………………………………Ⅰ
Abstract ………………………………………………………………..Ⅱ
誌謝 ……………………………………………………………………Ⅳ
目次 ……………………………………………………………………Ⅴ
圖目錄 …………………………………………………………………Ⅶ
表目錄…………………………………………………………………ⅩⅡ
第一章緒論 …………………………………………………………1
1.1 前言 …………………………………………………………1
1.2 研究動機與目的 ……………………………………………2
1.3 本文架構 ……………………………………………………3
第二章機械臂之模型架構及運動學推導………………………4
2.1機械臂之模型假設與定義……………………………………4
2.2 順向運動學 …………………………………………………5
2.3 逆向運動學 …………………………………………………9
2.4 Newton-Euler動態方程式………………………………..12
第三章機械手臂動態模擬與分析………………………………17
3.1 模型建立………………………………...………………….17
3.2 機械臂夾針頭…..……………………………………..……20
3.3 針頭在兩個機械臂間的傳遞…………...………….………25
3.3.1 Part I 機械臂均為不動…………………………25
3.3.2 Part II 機械臂為動態…………………………..36
第四章機械手臂動態模擬受力分怖………...…………………45
4.1 Part I 作用點為一點時:………………….……….46
4.2 Part II 受力點為三個方向的反作用力………….…49
4.3 Part III 尾端針頭受力分析………………..………52
4.4 結果與討論……………………………………………54
第五章結論與未來展望 ……………………………………………..55
參考文獻 ………………………………………………………………56

參考文獻

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指導教授

張江南(Chiang-Nan Chang)

審核日期

2006-6-29

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