具備力量量測功能之內視鏡手術工具之研發

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姓名

邱繼明(Chi-Ming Chiu) 查詢紙本館藏

畢業系所

機械工程學系

論文名稱

具備力量量測功能之內視鏡手術工具之研發
(Development of Laparoscopy Surgical system that can measured force and displacement during a Laparoscopic)

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摘要(中)

內視鏡手術具有手術傷口小、傷口疼痛感小、病人術後恢復時間快、等優點，漸漸取代了傳統的開放是手術，儼然成為二十一世紀最受矚目的手術之一，本研究利用真實手術用的內視鏡刀具，開發出一個可以直接對活體器官進行測試的內視鏡手術工具，搭配編碼器與力量感測器，可量測活體器官力量回饋特性以及進刀的行程距離，並且透過程式設計，加入提示音，探討不同型式之聲音提示對於內視鏡手術在進刀之行程誤差以及操作時間上的幫助。
系統開發方面，首先利用真實的內視鏡手術刀具設計，開發出具備活體器官力量回饋特性量測以及進刀行程量測功能之內視鏡手術工具，然後利用Visual Basic 2005與NI-6024E訊號擷取卡做連接，設計具備力量量測功能之內視鏡手術工具操作介面以及資料庫。
系統驗證方面，本研究規劃使用者信度實驗，評估使用者在操作具備力量量測功能之內視鏡手術工具時，是否會受到時間因素的影響而在操作表現上有太大差異，由信度實驗結果可以得知，讓同一批受試者在經過第一次實驗後7天，再進行相同的測試，前後測的實驗結果數據相當接近，由此可證明本系統具備信度，不會因操作時間的改變而導致不同的結果。另外探討不同聲音提示對於操作時間以及行程誤差的影響，結果表示，有聲音提示的輔助可以降低使用者的行程誤差，但是對於操作時間沒有明顯的幫助。

摘要(英)

Laparoscopy surgeries are being widely used due to their significant advantages over traditional open surgies. However, the surgeons have to face several difficulties never experienced in open surgeries such as poor depth perception, limited field of view.Laparoscopy surgery simulation system can provide a no danger and low medical resources consume training platform.Yet, few research can effective assess the construct validity of Laparoscopy surgery simulation system.
In this study we use real surgical instrument to develop a system that can measured force, displacement and time.Using the proposed system, two sets of animal experiments were conducted in an operating room to measure force-displacement and force-time of pig liver.we also add some voice that can help user in surgical training.
We use Visual Basic 2005 to develop the system which includes test platform control and acquisition operating interfaces and system control interfaces, we also use Microsoft Access to establish force feedback、time and displacement database.
The study adopt force feedback experiment and voice feedback experiment in order to verify the system, the results show that voice feedback have more operation accuracy than without force feedback. It also shows that voice feedback has assist in Laparoscopy surgery training. The reproducibility of the system reality assessment was analyzed using the intraclass correlation(ICC) approach.

關鍵字(中)

★ 系統驗證
★ 內視鏡
★ 力量回饋

關鍵字(英)

★ Force Feedback
★ Laparoscopy
★ Voice Feedback

論文目次

目錄
摘要 i
致謝 iii
目錄 iv
圖目錄 vi
表目錄 vii
第一章緒論 1
1-1研究背景 1
1-2研究目的 2
1-3研究內容與流程 2
1-4論文架構 4
第二章文獻回顧 5
2-1微創型手術 5
2-2手術模擬系統 5
2-3力回饋技術 10
2-4力回饋實驗設計 13
2-5 小結 15
第三章系統規劃與開發 16
3-1系統功能與規格 16
3-2 具備力量量測功能之內視鏡手術工具系統開發 16
3-3開發成果 18
3-4 成果驗證 22
3-5 擬真力回饋系統建置 24
第四章實驗設計 26
4-1系統信度實驗 26
4-2聲音回饋實驗 28
第五章實驗結果與討論 30
5-1具備力量量測功能之內視鏡手術工具信度實驗 30
5-2聲音回饋分析 34
5-3實驗結論 44
第六章結論與未來展望 45
6-1 結論 45
6-2未來展望與建議 46
參考文獻 48

參考文獻

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指導教授

鄭銘章(Ming-Chang Jeng,)

審核日期

2009-7-21

推文