具備力量量測功能之內視鏡手術工具之研發

以作者查詢圖書館館藏

、以作者查詢臺灣博碩士

、以作者查詢全國書目

、勘誤回報

、線上人數：14

、訪客IP：18.119.137.175

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)

相關論文

★ 反應性磁控法濺鍍氮化鈦鎢薄膜磨潤行為研究	★ 應用田口方法於發光二極體導線架射出成型參數最佳化之研究
★ 應用田口方法於半導體晶圓盒製造最佳化	★ 虛擬護理數位診斷模擬系統開發之研究
★ 虛擬射出成型試驗機之研究	★ 藥柱疲勞特性與壽限評估模式之研究
★ 網際網路虛擬護理照護數位模擬系統之研究	★ 虛擬實境應用於手部復健與電動輪椅模擬系統之研發
★ 縮尺發動機振動與疲勞壽限之研究	★ 應用駕駛模擬器探討震動防撞警示系統之技術開發與研究
★ 虛擬實境應用於坐姿平衡訓練系統之研究	★ 符合SCORM規範之射出成型數位學習系統建置與研究
★ 虛擬場景模組化與自動編輯系統開發之研究	★ 虛擬內視鏡基礎技術訓練系統學習轉移之研究
★ 聚縮醛(POM)機械性質之射出成型條件最佳化研究	★ A533與A508鋼材疲勞裂縫成長特性研究

檔案

[Endnote RIS 格式]

[Bibtex 格式]

[相關文章]

[文章引用]

[完整記錄]

[館藏目錄]

至系統瀏覽論文 ( 永不開放)

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

1. 許元聰，”內視鏡手術擬真力回饋雛型系統之開發”，碩士論文，國立中央大學，民國97 年。
2. 取自http://www.surgical-science.com/
3. 取自http://www.simbionix.com/In_Pipeline.html
4. 取自http://www.immersion.com/markets/medical/products/
5. Richards, C., J. Rosen. " Skills evaluation in minimally invasive surgery using force/torque signatures ", Surgical Endoscopy, Vol. 14, pp.791-798, April 2000.
6. Shimachi, S., Y. Hakozaki. " Measurement of force acting on surgical instrument for force-feedback to master robot console ", International Congress Series , Vol. 1256, pp.538-546, March 2003.
7. Bell, A. K. and G. L. Cao. " Effects of artificial force feedback in laparoscopic surgery training simulators ", IEEE Systems, Man and Cybernetics, Vol. 7, pp.2239-2243, March 2007.
8. Youngblood, P. L., S. Srivastava. " Comparison of training on two laparoscopic simulators and assessment of skills transfer to surgical performance ", Journal of the American College of Surgeons, Vol. 200,pp.546-551,April 2005
9. Panait, L., R. L. Bell. " Designing and Validating a Customized Virtual Reality-Based Laparoscopic Skills Curriculum ",Journal of Surgical Education , Vol. 65,pp.413-417,December 2008
10. Hogle, N. J., W. D. Widmann. " Does Training Novices to Criteria and Does Rapid Acquisition of Skills on Laparoscopic Simulators Have Predictive Validity or Are We Just Playing Video Games? ", Journal of Surgical Education , Vol.65,pp. 431-435,December 2008
11. 詹登貴，虛擬實境技術在內視鏡手術模擬上的應用，碩士論文，國立成功大學，民國87年。
12. 姚凱傑，虛擬腹腔鏡手術模擬系統之研究，碩士論文，國立中央大學，民國91年。
13. 陳志明，遠端遙控機械手臂腹腔鏡手術系統，國立中央大學，民國88年。
14. Peirs, J., J. Clijnen. " A micro optical force sensor for force feedback during minimally invasive robotic surgery " , Sensors and Actuators A: Physical , Vol.115,pp. 447-455, April 2004
15. Aggarwal, R., S. A. Black. " Virtual Reality Simulation Training can Improve Inexperienced Surgeons' Endovascular Skills " , European Journal of Vascular and Endovascular Surgery , Vol.31,pp. 588-593, February 2007
16. Aggarwal, R., T. Grantcharov. " A competency-based virtual reality training curriculum for the acquisition of laparoscopic psychomotor skill " , The American Journal of Surgery , Vol.191,pp. 128-133, January 2006
17. Samur, E., M. Sede. " A robotic indenter for minimally invasive measurement and characterization of soft tissue response ", Medical Image Analysis , Vol.11(4),pp. 361-373, January 2007
18. Aggarwal, R., I. Balasundaram. " Training Opportunities and the Role of Virtual Reality Simulation in Acquisition of Basic Laparoscopic Skills ", Journal of Surgical Research , Vol.145(1),pp. 80-86, February 2008
19. of obstetric gestures based on the curvatures analysis of the position and the orientation ", Journal of Biomedical Informatics , Vol.41(6),pp. 991-1000, February 2008
20. Tsuda, S., D. Scott . " Surgical Skills Training and Simulation. " , Current Problems in Surgery , Vol.46(4),pp. 271-370, January 2009

指導教授

鄭銘章(Ming-Chang Jeng,)

審核日期

2009-7-21

推文