- 學位論文
多功能機械床組機構設計與機電控制
Mechanism Design and Mechatronic Control of Multi-functional Robotic Beds
摘要
近年來機器人應用在醫療的領域中有著長足的發展。因應高齡化的社會，醫療機器人將扮演著重要的角色;對於病人，可以提供較好的醫療品質，對於醫護人員，可以替代重複性或是勞力的醫護工作來降低其工作壓力。本論文將針對行動不便需長期臥床之病人設計機器人以協助日常生活功能。一方面協助變換姿勢預防褥瘡，病人因長期臥床，長時間壓迫身體造成血流不暢，容易形成褥瘡，為了避免褥瘡，病人需要常常改變姿勢。另一方面協助醫護人員，幫助病人轉位下床，轉位下床對於病人而言，是件困難的工作，需要醫護人員費力地協助才能達到轉位下床的目的。針對這兩種工作，設計了一種機器床來協助改變姿勢與轉位下床。 本論文，首先調查搜尋了市面上具備兩種功能之裝置和其相關之論文與專利，透過分析比較之後，再提出可行之設計概念。針對此設計概念，執行設計與分析其機構，最後將其付諸實現。其中，主要發展機電系統以連接機器床的馬達系統與電腦，電源系統，以及回授系統。為達成利用電腦來操控機器床的目的，規劃相關動作之控制程序並透過Borland C++ Builder軟體建立一種使用者介面，使用者可以操作介面並透過機電系統來控制床的功能。透過使用者介面測試了機器床的功能，包括姿勢變化功能與轉位功能之實驗。實驗的結果說明床能夠成功的改變病人之姿勢和協助其移動到另一張床或是輪椅上。
並列摘要
In recent years, the field of medical robots has been a significant development for patients. As the aging society is coming, medical robots will play an important role. For the patient, medical robots provide better attention. For caregivers, their stress will be released, because they do a lot of repeated and high-labor intensive daily care activities which will be replaced by medical robots. In this thesis, a robotic bed is designed for assisting the bedridden patients’ daily life. Most bedridden patients encounter difficulties in changing and transferring positions. Because those patients stay on the bed for a long time without changing position, bedsore will occurred for poor circulation. The bedridden patients need reposition his/her body to prevent from bedsore. Also, ambulation is not an easy task for the patient. In order to overcome these problems, an assistance robotic bed, called multi-functional bed, is designed, implemented, and controlled. The author searches some commercial devices, patents, and papers and analyzes their functionalities. According to the analysis, a concept to design the multi-functional bed is proposed. Then, according to the concept, the mechanism of the bed is designed and implemented. The Multi-functional bed is controlled by using the computer. Hence, a mechatronic system is designed and implemented for connecting computer and the mechanism of the bed. In order to control the bed, a controlling process is planned. Based on the planned process, the software of graphic user interface (GUI) is programmed by using Borland C++ Builder for controlling the multi-functional bed through the mechatronic system. The functions of the bed are experimented by using the GUI. Experimental results show the designed functions of the bed work well. In general, the multi-functional bed may solve the two problems for the bedridden patients.