基於擴增實境之內視鏡扶持機器人之運動規劃與控制

Motion Planning and Control of a Robotic Endoscope Holder Based on AR Approach

郭俊儀(Jyun-Yi Kuo)

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

本研究發展一套基於擴增實境之(Augmented Reality, AR)內視鏡扶持機器人操控系統，讓醫生可以直接使用頭部轉動操控內視鏡影像畫面，同時能更加直覺進行手術動作。本論文設計出一套頭控系統，使用AR眼鏡的陀螺儀測量頭部轉動來控制內視鏡視野移動，並且藉由AR眼鏡同時顯示內視鏡影像以及現實畫面，讓醫生在操作過程中不但能持續直視內視鏡的畫面，也能完整掌控手術房的實際情形。由於頭控方法無法直覺控制內視鏡的深度，本論文設計使用器械辨識的方法實現內視鏡深度控制。並且為了讓內視鏡自動的深度調整不干擾到手術的進行，將先行判斷醫生是否在進行手術動作，如果判斷醫生並非在進行手術的操作而是在觀察患部時，才可以進行內視鏡的深度控制。對於微創手術(Minimally Invasive Surgery)，本論文也提出一套機械臂遠端運動中心控制(Remote Center of Motion Control, RCM)演算法，讓6自由度機械臂在執行手術動作的過程中能維持以微創手術穿入口(Trocar)中心樞轉，達成不使病患傷口處擴張的目的。在實驗驗證部分本論文整合AR眼鏡控制內視鏡動作、基於器械辨識的內視鏡深度控制和RCM控制，並實際使用Hiwin機器手臂和Epson BT300 AR眼鏡進行系統的驗證，實驗中使用者可以有效的控制內視鏡的動作完成任務。

關鍵字

手術機器人 ； 擴增實境技術 ； 深度控制 ； 遠端運動中心控制

並列摘要

This thesis proposes an Augmented Reality (AR) system that allows doctors to handle a robotic endoscope holder more intuitively. The doctor can directly use his / her head movement to control the endoscopic scene. Through the use of an AR glasses, the user can observe the endoscope view and at the same time perceive the condition of the operation instead of completely isolating from the real world and thus ensure safety. Since the head-control method cannot intuitively control the depth of the endoscope, we propose a depth control scheme based on instrument identification. Further, in order that the automatic depth adjustment will not interfere the operation, the system will first determine whether the doctor is performing the operation or not. The depth control of the endoscope can be performed only when the surgeon is not performing the operation. A software Remote Center of Motion (RCM) control method is proposed for a 6-DOF robot to assure the robot to maintain pivoting around the trocar position in minimally invasive surgery (MIS) during the movement. Practical experiments on a Hiwin robotic arm and Epson BT300 AR glasses show that the user can effectively control the movement of the endoscope to complete a surgical instrument tracking task.

並列關鍵字

Surgery Robot ； Augmented Reality ； Depth Control ； RCM control

參考文獻

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