具可撓性鏡頭之腹腔鏡機器人手術互動控制

Surgeon Interactive Control of a Robotic Laparoscope Holder with Flexible Lens

詩博智(Po-Chih Shih)

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/NTU202004063

摘要

本文旨在為腹腔微創手術開發一內視鏡持鏡機器人，減少醫療人力資源負擔。此機器人能在維持傷口進入點不動的狀況下移動內視鏡，同時調整鏡頭角度使視線對在同一個目標上，提供醫師更好的視野選擇。此外，此機器人可調整姿態而不影響內視鏡功能，減少對醫師的干擾。

整個系統由一個六軸機器手臂與一個雙自由度內視鏡組成。內視鏡的可撓性鏡頭雖然是連續型機器人，但可建模成具有一個平移關節與兩個旋轉關節的機構，其中平移關節伸長量受兩個旋轉關節轉動角度約束。建模後，整個系統能以八自由度的九軸機器手臂表示。

為了移動內視鏡轉換視角而不拉扯傷口，在控制內視鏡移動的同時，使用了遠端運動中心的控制方式同時套用在傷口進入點與視線的控制上。扣除調整視線所需的七個自由度，剩餘的一個自由度能以零空間控制的方式加以利用，可依醫師需求調整手臂姿態，避免干擾。

此方法在模擬中成功地呈現手術部位不同視角，也準確地維持了傷口進入點的位置，驗證了內視鏡建模與控制方法的正確性。在實驗中，傷口進入點的位移不大於一公分，內視鏡移動方向也正確，惟可撓性鏡頭的控制不甚理想，誤差較大，但修正的趨勢仍是正確的。

關鍵字

手術機器人 ； 微創手術 ； 連續型機器人 ； 遠端運動中心 ； 零空間控制

並列摘要

This thesis aims to provide surgeons a better field of vision during minimally invasive surgery and thus proposes an endoscope holder which possesses the ability to move the tip of endoscope and fix the field of view on the target simultaneously without pulling or even tearing the incision.

The system consists of a 6-axis robot arm and a 2-DOF flexible endoscope.The flexible endoscope is modeled by combining a prismatic joint and a universal joint composed of two revolutionary joints.

To keep the incision unhurt, the radial movement of the endoscope rod is restricted by applying the method of remote center of motion(RCM). The same approach is applied to the line of sight to align the endoscope at the fixed target point.

Moving the endoscope with two RCM constrains costs 7 degrees of freedom, and the remaining degree of freedom is used to adjust the posture of the robot by the means of null space control.

Through MATLAB simulation, the endoscope model and the algorithm of RCM control is verified. Experimental results shows that the incision error is on the order of millimeters and that the endoscope moves along the desired direction.

並列關鍵字

surgical robotics ； MIS surgery ； continuum robot ； remote center of motion ； null space control

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