2010-08-012024-05-18https://scholars.lib.ntu.edu.tw/handle/123456789/702894摘要：醫療機器人累積20多年的經驗，逐漸朝向一個趨勢，是如何讓醫療機器人成為醫師最佳助手的智慧型工具(intelligent tool)來發展，從病患利益角度出發，設計上不只是在強調機器人的精度，而是要盡量能協助醫師發揮其專業，降低技術限制而能選擇更多更好的治療方法，小傷口，能使用更少、或使用更小具侵入性的輔助裝置。以電腦輔助骨科手術為例，骨科機器人必須要能提供醫師，在小傷口，不使用高侵入式的骨頭固定裝置的條件下，使用可以增加醫師手部靈巧性的操作工具，並達到更精確的手術規劃、導航與切骨精度的手術工具，易操作，不需醫師分心去思考操作工具的相關技術問題，並且提高手術的安全性，特別切骨鄰近有血管或神經的骨頭邊緣時，回報切骨的狀態。基於上述研究動機，本計畫結合過去開發手術機器人的經驗，著重於智慧型工具的相關技術研製，包括製作模組化之小體積與力量偵測切骨工具、增加微創手術程序之規劃導航軟體、提升靈巧性與安全性之智慧型切骨控制器、與開發低侵入性之虛擬病患骨頭夾具，使所開發之手術機器人符合實際臨床所需。本計劃將開發系統進行臨床應用的相關效能進行評估，包括更高的安全性、更小傷口、更短手術時間、更高手術精度等，著手進行前臨床實驗的數據收集與分析，朝向臨床實驗的目標努力，發展出具實用性的骨科手術機器人。<br> Abstract: Medical robotics has been developed more than 20 years. The accumulated experiences from clinical applications have enabled the concept of “Intelligent tool” for overcoming surgeons’ reluctance. In computer assisted orthopedic surgery, in particular in knee surgery, a robot should provide surgeons a tool, which can perform the operation not only more accurately, but also less invasively. The fixation of bone should be non-invasive, or less invasive. The tool should be able to enhance the dexterity of the surgeon’s hand. The whole system should be highly user-friendly. The system should 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 and develop the key intelligent techniques. 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. One more D.O.F. is added to rotate the cutter so that the bone resection can be performed in arbitrary orientation in the resection plane. The bone cutting module can be combined to any existent medical robot with good compatibility. The surgical planning and navigation software will increase the procedure of minimally invasive knee surgery so that the inner trauma of the patient can be reduced and recovery time can be shortened. The operated bone will 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. Moreover, all the intelligent functions will be evaluated in terms of functionality and performance. All pre-clinical trial data will be collected and analyzed for the preparation of next clinical trial stage.醫療機器人手術機器人電腦輔助手術電腦輔助骨科手術力量控制協同力量控制影像伺服Medical RoboticsSurgical RobotComputer Assisted SurgeryComputer Assisted Orthopaedic SurgeryForce ControlCooperative Force ControlVisual Servo