輔助植牙手術機械手臂之開發

The Development of a Robotic Mechanism for Oral Implant Surgery

張家豪(Chang, Chiahao)

指導教授 ： 姚宏宗 ； 黃銘仁

國立中正大學/工學院/機械工程學系/碩士(2012年)

摘要

本論文目的是設計一機械手臂之機構應用於植牙手術流程中的鑽孔術式。該機構採用遠程運動中心(Remote of Center Motion ,RCM )機構與選擇順應性裝配機械手臂(Selective Compliant Assembly Robot Arm ,SCARA)為基礎，提供植牙手術鑽孔時的位置、軸向與深度定位。相較現今常用的植牙定位導引板與電腦導引植牙系統，不僅兼具植牙定位導引板的物理限制與電腦導引系統的即時修正性，提供牙醫師施行植牙手術的鑽孔軸向與深度限制，提升植牙手術的安全性，同時減少植牙定位導引板製作與運送時間，加快手術的治療流程。
利用CAD軟體建立虛擬機械手臂模型，驗證該機械手臂之機構可在狹小口腔空間內移動與軸向的定位，符合該機械手臂的設計目的。

關鍵字

植牙手術鑽孔 ； 植牙定位導引板 ； 電腦導引植牙定位系統 ； 遠程運動中心機構 ； 選擇順應性裝配機械手臂

並列摘要

The paper presents a design of robotic mechanism for the drilling process of oral implant surgery. It bases on the Remote of Center Motion (RCM) mechanism and Selective Compliant Assembly Robot Arm (SCARA), provides the position, orientation and depth of the drilling process. Compare with the implant guide and the image-guided navigation system, it not only has the physical limitations of during the treatment but also corrects the model instantly in the surgery. It provides dentist the position, orientation and depth of the drilling process to increase the safety of the surgery, in the same time, decrease the manufacture and transport time of implant guide to increase the effective of the surgery.
In this thesis, the CAD software is used to build the virtual mode of robotic mechanism, it proves the robotic mechanism can move between the narrow space of the oral and calibrate the orientation of the drilling process of the surgery. It satisfies the purpose of this robotic mechanism.

並列關鍵字

The drilling process of oral implant surgery ； Implant guide ； Image-guided navigation system ； RCM ； SCARA

參考文獻

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