抽脂手術是一種整形外科手術，其主要目的在於移除位於患者皮下的脂肪組織。此手術利用一種稱為抽脂導管（cannula）的專用器械，經由小切口插入皮下，並連接至負壓幫浦以抽出脂肪。手術過程中，醫師需以較大的往復運動沿導管軸向操作，同時進行精細的軸向角度調整。然而，雖然導管的運動軸向需嚴格控制，其往復動作高度重複且費力，而抽脂手術通常需持續數小時，使得醫師極易感到疲勞。 為降低醫師的身體負荷，本研究提出一種新的協作式抽脂機器人平台概念。設計之半自動、安全之導管震盪裝置由協作機器手臂負載與操作，協助醫師執行抽脂。機器手臂負責攜帶抽脂裝置並控制導管的進入位置，而裝置本身提供必要的導管往復運動，以減輕醫師不必要的操作疲勞。所提出的半自動裝置具備完全機械式的安全機構，可避免導管在患者體內移動時發生旋轉；因導管旋轉可能切割血管並造成嚴重出血，因此僅允許在導管退出人體時進行旋轉是極為重要的安全設計。 系統完成後，使用與人體脂肪性質相似的髮膠進行測試，並結合動作擷取系統與電子量測設備蒐集裝置的行為數據。透過對量測資料的分析，可評估裝置的操作性能並驗證其機械安全機構之有效性。 ;Liposuction is a type of plastic surgical procedure that consists in draining out the fat located under the patient skin. A specific instrument called the cannula is inserted under the patient skin through a small incision. It is connected to pump that generates a negative pression to drain out the fat. The surgeon carefully manipulates the cannula with large reciprocating motions along the instrument axis and fine adjustment of the axis of motion. While the axis of motion is finely controlled, the reciprocating motion performed by the operator is highly repetitive and exhausting for a liposuction surgery that can last several hours. In order to reduce the physical charge on the surgeon, a new concept of robotic platform for collaborative liposuction is proposed. A semi-automatic and secured oscillating device is designed to assist performing the liposuction while being carried by a collaborative robotic arm. While the robotic arm carries liposuction device and controls the position of the cannula entry point, the device performs the reciprocating motions of the cannula, releasing the surgeon from unnecessary exhaustion. The semi-automatic device is design with a fully mechanical safety that prevent the cannula from rotating while moving inside the patient. Indeed, the rotation of the cannula may cut blood vessels and cause severe bleeding. It is therefore important to allow the cannula rotations only as it moves out of the patient’s anatomy. Once fully designed, the device is tested using hair gel to simulate the fat of the patient. A combination of motion capture and electronic measurement instruments are used to collect the data related to the device behavior. The analysis of these data allows evaluating the performance of the device and validating the efficiency of the mechanical safety.
