膝關節手術空間規劃之探討

Study of Spatial Arrangement in Knee Surgery

蔡思婕(Szu-Jie Tsai)

指導教授 ： 林顯易 ； 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(2010年)

摘要

近十幾年來，隨著發展人口趨向老化現象，各類型的退化性疾病也隨著人們年紀的增長有攀升趨勢，而人工全膝關節置換手術(Total Knee Replacement, TKR)在醫療項目中，為治療退化性關節炎逐漸早已成為其中之ㄧ的選項，在需求上逐年增加，但是透過手術輔助機器人，利用機器人的精準定位、施力可以準確的切出所需要的平面，成為膝關節置換手術的發展趨勢。
本論文著重於輔助手術機器人的手術空間規劃，並且改良原本的XYZ table 機構的體積，以類似水平多關節機械手臂(SCARA ROBOT)作為縮小機構的體積，再搭配原本機構本身的三個旋轉軸增加機構的對位功能。並對於機構進行運動學(kinematics)分析以及手術室中輔助機器人、病人及醫生，三者間手術空間之規劃探討，以機器人不干涉醫生進行手術，病人能夠在機器人手術空間中，進而符合膝關節置換手術的要求。

關鍵字

膝關節手術 ； 空間規劃

並列摘要

Over the last decade, with the development trend of population aging, various types of degenerative diseases of the increase as people age, there is growing in, and artificial Total Knee Replacement (Total Knee Replacement, TKR) in medical projects, as treatment of degenerative arthritis gradually has become one of Your options on the demand increases year by year, but through the robot assisted surgery, use of robots for precision positioning, overexertion can accurately cut out the required plane, a knee replacement surgery trends.
This paper emphasize the surgical robot assisted surgery space planning, and improved the original XYZ table body size, with similar levels of multi-joint robot arm (SCARA ROBOT), as reduced body size, with the combination of the three original agencies themselves axis of rotation increase body alignment function. And for the kinematics (kinematics) of robots and auxiliary operating room, patients and doctors, among the three spatial planning of surgery to non-interference in medical robotics surgery, robotic surgery patients can be space, and then meet the requirements of knee replacement surgery.

並列關鍵字

Knee Surgery ； Spatial Arrangement

參考文獻

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