全膝關節置換手術輔助機器人之機構開發

Development of a Surgical Robot for Total Knee Replacement

許英倫(Ying-Lun Hsu)

指導教授 ： 顏炳郎

國立臺北科技大學/機電學院/自動化科技研究所/碩士(2009年)

摘要

近十幾年來，由於人類平均壽命的延長和出生率的下降，各國的人口都逐漸出現老化。各類退化性疾病發生率也隨著各人年齡的增長而有攀升的趨勢，而全膝關節置換手術(Total Knee Replacement)，逐漸成為治療退化性關節炎主要選項之一。傳統手術上是利用特殊製具進行置換手術，但因個人的骨頭生理特徵點不盡相同，由製具來進行手術的結果並不是非常完善。因此，結合機器人輔助手術技術，利用其可高精度切除骨頭的特性與可客製化調整手術條件，使病人得到更有品質及效用的手術。
為因應手術上的實用性、安全性、精確性，本論文以3-DOF之XYZ table作為輔助手術機器人之核心，再搭配三個旋轉軸增加機構的自由度以便符合手術需要。並針對機構進行運動學(kinematics)、工作空間(Workspace)等作分析。利用此機構量測骨頭特徵點，藉由特徵點運算調整機器人姿態並依已規劃路徑進行切割。再配合控制器設計與力量感測器，讓醫生能輕易控制且確實完成切割任務，以達成輔助手術之功效。
目前達成階段，已經完成多次大體實驗。因此實際手術流程與問題探討為本論文的主要研究目標。

關鍵字

全膝關節置換 ； 手術機器人

並列摘要

For the past several years, the countries ‘ populations are aging gradually as a result of the human lifetime extending and the birth rate dropping. Also, various degenerative diseases occur in the man who grows old. Total Knee Replacement Surgery has become one of main choices of treating arthritis. In traditional surgery, the doctors used to perform surgery on knee replacement with particular instrument. However, the result was not very perfect because the man bone is dissimilar. Thus, combining robots which has the characteristics of high-precise cutting and customized skill helps the surgery perform. It makes the patient get good quality and effective operation.

In this paper, We adopt a 3-DOF XYZ table as the technique’s center to assist the robot on surgery practically, securely, and precisely. Another, three rotating axis are combined with this structure in order to increase the degrees of freedom for need. Then we analyze this structure about kinematics, workspace, etc. This structure, Robot Calibration, is used to survey out the bone characteristic. By the bone characteristic, we calculate and adjust the robot’s posture ,then we process to cutting in drawn route. By the way, the design of controller and force sensor have an effect on the doctors to assist the surgery with bone cutting of ease-control and preciseness

So far, we have done with Gross Anatomy experiment many times, hence the main study objects are about surgical process in practical and question discussion.

並列關鍵字

Total Knee Replacement ； Surgical Robot

參考文獻

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