2016-08-012024-05-13https://scholars.lib.ntu.edu.tw/handle/123456789/644549摘要：微創手術由於傷口小復原快，在外科手術中採用的比例已漸漸不低於傳統之外科手術。微創手術 以内視鏡取得體内患部之影像，藉由長柄手術器械之操作，進行患部切除或相關之手術動作，整體而 言，與傳統外科手術相比，操作上有較困難之處。同時，内視鏡與手術器械的操作需要由兩位外科醫 師共同合作，一方面增加人力負擔，一方面比較會有溝通協調的困難。因此，設計能夠自動化運作之 智慧型内視鏡機器人，將能夠有效提升微創手術之執行效能。本計晝「微創手術内視鏡機器人智慧型 導航系統設計」，配合子計晝一之内視鏡機器人機構與控制設計，主要目標在建立内視鏡機器人之智 慧型位置導航系統。計晝根據手術過程與狀況，同時也整合醫師之操作經驗與特性，發展智慧型内視 鏡視野系統以決定手術進行中内視鏡之視野角度與距離，同時也研發醫師視線偵測系統，藉以判斷最 合適之内視鏡影像顯示區域，有效提供外科醫師最適當之手術患部影像，以利手術之進行。計晝分為 三年執行，除了内視鏡視野系統、顯示系統與導航系統之建立外，第三年更將結合各子計晝之研究成 果，設計動物實驗，以活體實驗方式，真實的驗證内視鏡機器人及腹腔内擴增實境定位系統及血管腫 瘤安全距離警示系統之有效性。<br> Abstract: Due to the benefits of small incisions and fast patients recovery, minimally invasive surgery (MIS) has gained popularity to open surgeries. With MIS, surgeons acquire the target images by endoscope and operate on the tumor regions with long instruments. The operations are, in general, not as intuitive as in open surgeries. Also, the endoscope and the instruments have to be operated by two surgeons cooperatively. In that case, there are possible problems in communications and most important of all, two surgeons are required in one surgery. An intelligent endoscope robot, acting on its own to properly assist the surgeon in MIS, will hence be of great value. Our proposal "The design of Guidance System for Intelligent Endoscope Robot in MIS", in cooperation with another proposal on the design and control of the intelligent endoscope robot, is aimed at the determination of the positioning of the endoscope.An intelligent field-of-view system for the endoscope is first developed, based on the surgeon operation sequences and conditions, such that proper distances and view angles are determined for the endoscope. An intelligent endoscope display system is also developed based on the gaze detection of the surgeon in order to provide the viewing area which the surgeons are most interested in during the operations. The above two systems will then be integrated to provide the positions and trajectories of the endoscope, which in term becomes the endoscope guidance system.In the third year of our project, animal experiments are designed to provide the test platform for the endoscope robot, the augmented realty localization system, as well as the safe-distance warning system, so that the performance of our project can be evaluated.内視鏡機器人導航視野智慧型Intelligent systemendoscope robotguidance systemgaze detection