微創手術持針器在自動化機器手臂縫合系統中的軌跡規劃與控制演算法

Trajectory planning and control for a robotic suturing system using regular MIS needle grasping forceps

康皓翔(Hao-Xiang Kang)

指導教授 ： 顏家鈺

國立臺灣大學/工學院/機械工程學研究所/碩士(2020年)

https://doi.org/10.6342/NTU202002298

摘要

微創手術在近年來的使用率日益上升，此手術相較於傳統的開腹手術來說，有著出血量少、術後恢復時間較少、減少傷口感染率等等…而執行微創手術的過程較長，也會對外科醫生在體力以及精神上造成較大的負擔。而機器手臂應用在微創手術中，不只能夠減少醫生的負擔，並且能使手術過程更加精確且有效率。
　　本文旨在設計一套能夠應用於微創手術中的自動縫合機器手臂系統，期許能夠在醫生進行完手術時來輔助縫合傷口，以便減少醫生在手術最後的負擔。首先將腹腔鏡持針器安裝於機械手臂末端點，並設計一套微創手術縫合控制系統，在遠端中心限制的條件下，能夠使持針器與肚皮的接觸點保持不動，在規劃腹腔內部的針尖軌跡，以達到縫合的目的，接著藉由模擬與實驗來驗證控制演算法以及手術縫合動作的準確性。

關鍵字

微創手術 ； 微創手術機器人 ； 遠端運動中心 ； 手術縫合

並列摘要

There has been some increase in the use of MIS over recent years. Compared to the traditional open surgery, MIS has the advantages of less bleeding, rapid postoperative recovery and lower wound infection rate, etc. However, the process of MIS is relatively long. It can cause a greater burden on surgeons, both mentally and physically. By applying the robotic arm to MIS, not only the surgeons’ stresses can be reduced, the surgery process can also be more precise and efficient.
The purpose of this paper is to design an automatic suturing robotic arm system which can be applied to the MIS. It’s expected to assist the surgeons on the suturing operation and reduce the burdens of surgeons. Firstly, the laparoscopic needle holder is being fixed at the end of the robotic arm. A MIS suturing control system is also designed. With the condition of remote center of motion, the contact point between the needle holder and the abdomen is remained unmoved. Then, to complete the suturing operation, the route of needle tip within the abdominal cavity is planned. The correctness of the control algorithm and the accuracy of the surgical suturing motion are verified by simulations and experiments.

並列關鍵字

Minimally Invasive Surgery ； MIS Robot ； Remote Center of Motion ； Surgical Suturing

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