適用於穿刺手術之機械式醫療導航系統人機介面設計與臨床誤差分析

Design of Medical Robotic Navigation System Interface Used in Biopsy and Analysis of Its Clinical Error

歐峻杰(Chun-Chieh Ou)

指導教授 ： 楊宏智

國立臺灣大學/工學院/機械工程學研究所/碩士(2014年)

https://doi.org/10.6342/NTU.2014.02356

摘要

近幾十年來由於電腦斷層的問世造成了醫學界在手術時型態的改變，微創手術已越來越受到醫學界的重視，在現今注重降低手術後併發症以及加速病患術後復原時間，對於手術誤差要求越來越小的情況下，醫學影像導航系統的存在更是不可或缺的利器，其中機械式醫學影像導航系統不會讓醫師在手術時的行動受限制，更是在這方面的應用相當突出，因此本研究致力於開發一套應用於穿刺手術之機械式醫學導航系統人機介面整合，藉由蒐集文獻了解現今導航系統的介面設計並且與醫師溝通討論後改良介面實用性並且從誤差測試中改進機構設計達到應用於臨床手術的目的。
本研究目的主要是透過電腦斷層所掃描出來的影像資訊藉由可視化程式開發函式庫( VTK )搭配Visual Studio 2012內的MFC來進行人機互動介面開發，本研究所設計之三維影像重構技術不僅可以充分顯示3D空間概念並且在介面內搭配機械手臂的影像進行直觀的術前導航，協助醫師在術前進行病灶的診斷與手術路徑規劃，而在術中可搭配機械手臂校準三度空間定位達到手術路徑導引。如此將可提供醫師精確之外科手術之患部位置，提昇手術的精確度與品質。

關鍵字

機械式導航系統 ； 三維重建 ； 醫學影像

並列摘要

In recent decades, the appearance of Computed Tomograph has caused the change in surgery. In the situation that the error of surgery becomes smaller and smaller, the existence of Medical Image guided system is indispensable. Robotic Medical Image navigation system will not limit the action when surgeons perform an operation; it is outstanding in this field.
This research devotes to develop a system of robotic navigation which can apply on biopsy. According to the literature, understanding the design of the interface of robotic navigation and improve practicality of the interface after discussing with surgeons. Improve the mechanical design by error testing to apply on clinical surgery.
The target of this research is to develop an interface that the surgeons can interact with the images of Computed Tomograph by using Visualization Toolkit and MFC in Visual Studio 2012. The design of 3D reconstruction in this research not only shows the concept of three dimensional spaces but also equipped the images of robot that we can navigate intuitively before operation. It can help surgeons diagnose and plan the surgical route before surgery and guide the surgical path by regulating the 3D positions of the robot while operating. So that it can provide the precise location of the affected part to the operators to improve the precision and quality of the surgery.

並列關鍵字

VTK ； 3D reconstruction ； Robotic Navigation System

參考文獻

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