精密定位與自動進給手術用骨骼鑽孔平台之研究

Development of Automated Precision Bone Drilling Machine for Medical Surgery

林浩瑋(Hao-Wei Lin)

指導教授 ： 徐業良

元智大學/工程學院/機械工程學系/碩士(2000年)

摘要

本研究研發一腦部手術用之精密定位與自動進給鑽孔平台，利用電鑽直流馬達的扭力與電流成正比的關係，量測電鑽電流作為偵測骨骼鑽孔時穿越硬度不同骨質的訊號，透過模糊控制器達成鑽穿頭骨後自動停止進給、鑽頭停止切削的功能。本研究並提出模組化設計的概念，只要將現有電鑽挾持於一模組化的自動進給型架上，將電鑽電源插上所設計一訊號擷取控制電路盒，即可擷取電鑽電流訊號。接下來並結合一能在空間中靈活移動的機械手臂，與醫院無框式光學定位系統整合，協助醫生將鑽頭移到離病灶三度空間中距離最近的頭骨定位點，由機械手臂挾持鑽孔器於頭骨上自動進給鑽孔，可避免人為的抖動。本研究可輔助腦神經外科醫生提高手術時骨骼鑽孔的安全性，並將手術病灶定位與自動進給鑽孔做醫療自動化的整合
本研究並針對不同的進給速度、不同電鑽直徑、輔助支撐頂桿有無、及進刀方向等四個參數做整合測試。經過數十次不同狀況之鑽孔實驗，過衝量均在2mm以下，且均無不預期失效狀況發生，顯示本系統有相當之可靠性。
國內在臨床使用的電鑽尚無利用自動進給或透過感測器判斷鑽穿訊號方面的研究，本研究開發之自動進給手術用骨骼鑽孔平台應有相當發展前景。

關鍵字

自動進給骨骼鑽孔 ； 模糊控制 ； 腦部手術

並列摘要

This thesis presents the development of a precision bone drilling machine for medical surgery. The neurosurgeon needs to drill holes on the head bone in order to get to the nidus. For the time being, this drilling operation is control by the doctor's feeling of hands.
The purpose of this investigation is to use fuzzy controller to control the penetration of the drill bit when it drills through different tissues of human bones. The drill is driven by a DC motor, whose current is proportional to the cutting torque. The controller senses the current to detect different tissue of human bone. A step motor controls the feed rate of the drill, and it stops feeding when the bone, whose thickness is unknown, is drilled through. A mechanical robot holds the drill smoothly avoiding the thrashing from the surgeon. The system undergoes many drilling tests using various cutting conditions. There were no unexpected failure, and the overshoots of all drilling tests were less than 2mm.

並列關鍵字

Automatic bone drilling ； fuzzy control ； neuro-surgery

參考文獻

Allotta, B., Giacalone, G., and Rinalidi, L., 1997. “A hand-held drilling tool for orthopedic surgery,” IEEE/ASME Transaction on Mechatronics, vol.2, no.4, p. 218-229.

Baker, D., Brett, P.N., Griffiths, M.V., and Reyes, L., 1996. “A mechatronic drilling for ear surgery：a case study of some design characteristics,” Mechatronics, vol. 6, no.4, p. 461-477.

Baker, D., Brett, P.N., Griffiths, M.V., and Reyes, L., 1996. “Surgical requirements for the stapedotomy tool：data and safety considerations,” IEEE Engineering in Medicine and Biology Society.

Ho, C., Jiang, W., and Wong, T., 1998. “The development of computer added simulation and positioning system for neurosurgery,”The Journal of China Association for Medical Information, no7, p. 26-36.

Kaburlasos, V.G.; Petridis, V.; Brett, P.; Baker, D., 1997. “On-line estimation of the stapes-bone thickness in stapedotomy by learning a linear association of the force and torque drilling profiles,” Intelligent Information Systems, IIS '97, Proceedings, p. 80 -84