腹腔鏡手術相較於傳統手術，有失血量少、恢復時間短、縮短住院時間、減少併發症等優點。腹腔鏡手術時，需有一位有經驗的醫師擔任助手，負責持著腹腔鏡，以利主刀醫師可觀察病人體內之狀態。然當長時間進行手術，此位醫師會因手臂疲勞，導致影像穩定度下降，使得主刀醫師眼睛疲勞，降低手術品質。本研究旨在針對此問題提供解決方案。首先收集現有研究及產品資料，瞭解在腹腔鏡手術中，腹腔鏡所需之動作需求，及現有產品之發產趨勢。接著訂出規格，完成概念設計，並對關鍵組件進行分析，驗證是否符合所制訂之規格。最後將設計實際製造。本結構體可夾持腹腔鏡，使腹腔鏡在X軸及Y軸上旋轉，並順著X軸及Y軸微量移動。當上下蓋密合後，夾緊兩軸，阻止其旋轉及移動。

Laparoscopic surgery reduces pain, hospital stay and convalescence for the patient. However, laparoscopic operations are complex procedures. A single surgeon generally has both hands occupied with surgical instruments, and an experienced assistant ( usually another surgeon) is necessary simply to hold the laparoscope steady in a desired position. The primary motivation for our research is to develop an stable, robust mechanism to position the laparoscope during surgery for reducing the load of the experienced assistant and increasing the stability of laparoscopic image. This mechanism could provide laparoscope 4 degree of freedom ( 2 rotation, 2 translation ). When this mechanism is locked, it could position laparoscope in a specific position.

誌謝 I
摘要 II
Abstract III
目錄 IV
圖目錄 V
表目錄 IX
第一章 導論 1
1.1 前言 1
1.2 文獻回顧 3
1.3 相關產品 11
1.3.1 腹腔鏡操控器 ( Laparoscope Manipulator ) 11
1.3.2 主從式機械人系統 (Master-Slave Robotic Systems) 21
1.4 研究目的 25
第二章 規格與結構設計 26
2.1 設計流程 26
2.2 需求分析與工程定量 26
2.3 規格與採用機構 29
2.4 結構設計 31
2.5 功能說明 45
第三章 功能分析 48
3.1 定義功能及分析流程 48
3.2 鎖定機構分析 49
3.2.1 緩衝材料變形所產生之正向力 49
3.2.2 剎車力矩分析 51
3.2.3 摩擦力分析 54
3.3 夾持機構一分析 55
3.3.1 夾持機構一受力分析 55
3.3.2 夾持機構一壽命分析 58
3.4 夾持機構二分析 64
3.4.1 夾持機構二受力分析 64
3.4.2 夾持機構二壽命分析 67
第四章 結論與建議 71
4.1 實作成品 71
4.2 結論 85
4.3 建議 85
參考資料 86

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