- 學位論文
應用於微創手術之多重目標定位雷達收發機設計
Multi-Target Positioning Radar Transceiver Design Used in Minimally Invasive Surgery
摘要
本論文提出以無線雷達定位技術結合微創背脊手術做為手術導航設備，此定位系統採用連續調頻雷達技術與三角定位技術進行定位，搭配多組不同調變頻率之標籤電路，可具有分辨不同目標物的功能。 本論文中將會介紹兩組無線收發機模組，其掃頻範圍皆於24 GHz 至24.4 GHz ，其中第一版之發射端輸出功率12 dBm，經由高增益天線陣列提供15 dBi 的增益，並將訊號發射，整體 EIRP為27 dBm；第二版電路為更換不同型號之壓控振盪器與修改本地端設計，減少整體直流功耗，並增加系統輸出功率，其發射功率為15 dBm，EIRP為30 dBm，較初版提升約3 dB。 配合由運算放大器設計與石英振盪器設計之兩組不同標籤電路，並於50公分至200公分處進行量測，其中由運算放大器設計之標籤電路面臨頻率飄移不穩定的狀況，較好的誤差百分比約為3%，但亦有高達20%誤差百分比的情況發生；而石英振盪器設計之標籤電路，雖解決頻率不穩定的狀況，但其整體系統定位誤差較20%大，這部分可望透過後端演算法加以修正。
關鍵字
連續調頻雷達並列摘要
In this thesis, a FMCW radar-based positioning system for minimally invasive surgical guiding has been proposed and designed for spinal surgery. By using FMCW radars and the triangulation techniques, the system is able to determine the displacement of the target tag, where multiple tags can be distinguished simultaneously using different modulation frequencies. Two versions of wireless radar transceiver have been developed. Both systems have sweep frequency from 24-24.4 GHz. For the first version, the output power is 12 dBm, and the system EIRP is 27 dBm with a 15-dBi antenna being applied. The second version modified the circuit using different VCO device so that the output power is increased by 3 dB comparing to the first version. The power consumption is reduced as well, and the EIRP of the system is 30 dBm. The range measurements are performed with two versions of tag from 50 cm to 200 cm. For the OP-designed tag case, the beat frequency is randomly shifted, giving the range error is 3%-20%. The crystal-designed tag solves this frequency shifting issue, but the measured range error is larger than the OP-designed case. The mean error is higher 20% and this issue can be moderated using the correction algorithm.