2013-01-012024-05-17https://scholars.lib.ntu.edu.tw/handle/123456789/680546摘要：醫療機器人定位精度高提供了更精準手術的潛力，本計劃提出一個易上手，低成本之機器人輔助骨科手術系統，不需要電腦斷層掃描影像即可進行影像導航之軟體，此手術規劃和導航軟體同時結合診斷時使用之X光影像進行病患骨頭之校準，從而顯著減少手術時間。同時機器人以成為醫師最佳助手的智慧型工具角度來發展，建立一個具有高靈巧骨頭切削模組，透過兩個嵌入式力量感測器測量外科醫生施力和骨切削力，合作力量控制策略有效將此hands on架構機器人的優點有效的發揮，自動偵測切骨邊界防止意外傷害的周圍軟組織神經或血管，此策略無需精準的電腦斷層掃描影像協助即可達成。此外，病患下肢無需高侵入式的固定，以虛擬軟體骨頭固定技術，利用的動態校準與視覺伺服進行術中骨頭移動補償，大大減少對骨頭侵入式的傷害。因此本計畫開發模組化之小體積與力量偵測切骨工具、結合導航軟體進行機器人手術導引、提升靈巧性與安全性之智慧型切骨控制器、與低侵入性之虛擬病患骨頭夾具與切骨輔助減震功能，透過大體實驗進行相關效能進行評估，以更高安全性、更小傷口、更短手術時間、更高手術精度目標，使所開發之手術機器人輔助骨科手術成為未來外科醫師之最佳幫手。<br> Abstract: Medical robots have the potential to bring a surgery with high positioning accuracy. The project presents a modulized design with an intelligent human machine interface for a knee surgical robot. A surgeon can easily control the whole operation process by the robot-assisted orthopedic surgery system. A CT-free surgical planner has also been integrated with the surgical robot. The surgical planning and navigation software is able to incorporate diagnostic x-ray image for image-patient registration. Thus significant reduction of operation time can be achieved. The tool can enhance the dexterity of the surgeon’s hand. The system can also be even safer than the traditional one. Based on the above motivation, in this project, we propose to introduce the concept of “intelligent tool” to our previously developed knee surgical robot. We will develop a highly dexterous bone cutting module, in which two embedded force sensors are included to measure the surgeon’s inputted force and bone cutting force. The bone cutting module can be combined to any existent medical robot with good compatibility. The cooperative force control equipped with the proposed bone cutting through detection is advantageous to prevent from damaging surrounding soft tissue than by conventional method or computer navigation method. The auto-detection bone cutting through is able to achieve accurate bone cutting with only the information of cutter’s motion and forces, no medical images are required. Moreover, the anatomical object is no need to not be fixed invasively. A virtual bone clamper will be developed using dynamic registration and/or visual servoing for intraoperative bone movement compensation. Therefore, all system will be much less invasive. All the intelligent functions will be evaluated by cadaver test.手術機器人電腦輔助骨科手術力量控制協同力量控制骨頭切削Surgical RobotComputer Assisted SurgeryComputer Assisted Orthopaedic SurgeryCooperative Force ControlBone Cutting