以單一旋轉致動之三末端效應器的驅動狀態切換介面設計

A State-Shifting Interface for Tool with Triple End-Effectors Independently Driven by Single Rotary Actuator

朱辰浩(Chen-Hao Chu)

指導教授 ： 陳達仁

國立臺灣大學/工學院/機械工程學研究所/碩士(2019年)

https://doi.org/10.6342/NTU201903454

摘要

在腹腔鏡手術中，端口(Port)的數量等同於手術中需同時使用的工具數量。為減少端口數量，單口腹腔鏡工具(Single-Port Laparoscopic Tool)就此誕生，然而在現存的單口腹腔鏡工具中，每一個末端效應器(End-Effector)都是由個別獨立的致動器所驅動的，雖然減少了端口數量卻增加了端口的尺寸。本文提供了一個切換介面，適用於具有三個末端效應器並以單一致動器獨立驅動的工具，藉由減少致動器數量來解決單口腹腔鏡工具中端口的尺寸被迫放大的問題。在現存的六十六個末端效應器中，有六十二個只進行單純旋轉運動且由旋轉致動器所驅動，因此本文著重於旋轉式末端效應器及旋轉致動器的討論。其中每一個末端效應器皆為雙向驅動且具有一個動作階段(Moving Stage)及一個抑制階段(Holding Stage)，本文推導出一個具備動作階段及抑制階段的工具的拓樸構造。將各個末端效應器線性搭載在單個工具之上，以處於動作階段的末端效應器編號定義工具狀態(Tool State)；將致動器置於動作階段之末端效應器的操作平面(Operating Plane)，同時在其他末端效應器的操作平面中置入一個定位件（Fixer）與末端效應器結合。在切換工具狀態時，為調整操作手柄的位置以匹配下一個驅動的末端效應器，需要增加一個中立態(Neutral State)來切斷動力傳遞；將致動器由所有末端效應器的操作平面分離，並將定位件同時置入所有末端效應器的操作平面中。藉由將致動器及定位件在各個末端效應器的操作平面間移動以完成狀態切換介面，為使致動器及定位件在各個平行的平面間進行現行移動，本文以往復式的線性運動作為狀態切換介面的驅動方式。在實施例中，致動器及狀態切換介面應設於使用者端，本文以纜索系統（Wire System）傳遞由致動器產生的運動置末端效應器。其中使用了兩個獨立的纜索系統；一個用於驅動末端效應器的運動，另一則用以驅動狀態切換介面。本文提出了一個用於血管解剖的狀態切換介面的操作過程實施例。

關鍵字

多末端效應器 ； 單一旋轉致動 ； 驅動狀態切換介面

並列摘要

In laparoscopic surgery, the number of ports equals to the number of tools used. To reduce the number of ports, single-port tools have been developed; however, each end-effector is still driven by an individual actuator. Single-port tools reduce the number but increase the size of ports. This thesis proposed an interface for tool equipped with triple end-effectors independently driven by single actuator to reduce the port size. Sixty-two over sixty-six of existing end-effectors are purely rotary and driven by rotary actuator, so this thesis focused on rotary end-effectors and rotary actuator. Each end-effector is dual-directional actuated and has a moving stage and a holding stage. A topology structure for tool with both moving stage and holding stage was derived. Triple end-effectors are linearly assembled on single tool and the tool state is defined by the number of end-effector in moving stage. Actuator exists in the operating planes of end-effectors in moving stage, and produce a fixer in all the other operating planes. To adjust the pose of trigger to match the pose of next-actuated end-effector when shifting states, a neutral state is desired. Separate the actuator from all the operating planes and make the fixer in all the operating planes. A state-shifting interface is proposed by linearly translating the actuator and fixer between the operating planes of the end-effectors. For linear translation between parallel planes, back-and-forth adjustment of the interface is assigned. Actuators and interface should be at the proximal side from the user. Use wire system to translate the motion from the actuator to the end-effector. Two independent wire system are used, one for actuating the end-effectors and the other for actuating of state-shifting interface. An operating process of the proposed tool to dissect a vessel is proposed.

並列關鍵字

multiple end-effector ； single rotary actuator ； driving state shifting interface

參考文獻

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