基於3D模型及擴增實境之機器人輔助手術監控設計

Supervised Control Design for Robot-Assisted Surgery Using 3D Medical Model and Augmented Reality

何紫瑄(Tzu-Hsuan Ho)

指導教授 ： 宋開泰

國立交通大學/電機學院/電機與控制工程系所/碩士(2020年)

摘要

本論文提出一套基於擴增實境(Augmented Reality, AR)之機器人輔助手術導航系統。結合機器人準確穩定的特性及AR可視化輔助之監控，本系統可以在手術前根據3D醫學模型規劃機械臂的軌跡，並讓外科醫生可以透過擴增實境監督手術過程中的執行效果。為了實現圖像引導手術，本論文開發出使用基於標記之手眼校正，得出空間座標系與機械臂座標系間之轉換，達成手術機器人影像導航控制。本論文以機械臂鑽骨手術任務為設計範例，提出一個基於AR可視化及3D醫療模型之即時監視與調控設計，以協助醫師於術中監督及調整機械臂之執行軌跡。本論文以自行設計之AR標記，進行智慧眼鏡虛擬物件投影，並提出一種座標轉換演算法，達成AR虛擬座標系與世界座標系對位匹配，將監控UI介面虛擬軌跡規劃轉換成機械臂之軌跡。本論文以實驗室研製之六自由度手術機械臂系統進行驗證實驗，實驗結果顯示，使用者可以透過AR智慧眼鏡調整骨骼模型上鑽入點的位置和方向，並將軌跡資訊傳輸給機械臂執行，機械臂執行所規劃30mm直線軌跡之誤差為0.75mm。實驗結果顯示所提出的基於AR可視化之機器人導航方法可以協助醫師進行鑽骨手術，有效地提高手術操作的安全性。

關鍵字

手術機器人 ； 擴增實境技術 ； 機械臂監控 ； 機器輔助手術導航

並列摘要

In this thesis, we propose an AR-based robotic system that can plan a trajectory based on a 3D medical model and allow the surgeon to supervise the surgical process during task execution. In order to achieve the image-guided surgery, a hand-eye calibration procedure is developed using AprilTag to obtain the transformation between the workspace coordinate and the robot system coordinate. In this work, the surgical robot is designed to perform the image navigation of a pedicle screw insertion task. A procedure of supervised robotic control is proposed to assign and modify the robot trajectory based on AR visualization and 3D medical model. A specific AR marker is designed and used to project virtual objects in the AR glasses. We developed a robot registration algorithm to match the AR virtual coordinate and the workspace coordinate, and convert the planned trajectory into robot trajectory. Experimental results on the lab-built surgical robot platform show that a user can adjust the position and orientation of the insertion point on a bone model, and transmit the trajectory information to the robot for execution. The robot execution error is within 0.75mm for a straight line motion of 30mm. The proposed visualization-based robot navigation method has the capacity to assist a surgeon in bone surgery and can effectively enhance the safety of surgical operation.

並列關鍵字

surgical robot ； AR technology ； supervised robot control ； robotic surgical navigation

參考文獻

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