| Summary: | 碩士 === 國立臺灣大學 === 生醫電子與資訊學研究所 === 104 === In minimally invasive surgery, if the bad port selections is happened, surgeons would feel fatigued and painful as they perform the operation during long time surgery. In this thesis, surgeon comfort evaluation in minimally invasive surgery are studied to help the port placement planning in the future. Firstly, based on the preoperative computed tomography (CT) imaging and patient''s inflated abdominal surface, a 3D patient model of spatial relationship between liver and abdominal surface is constructed. Then, calculate the region of abdominal surface where can reach the liver resection plane. In order to find the port sites to help surgeons perform the operation comfortably, a robotic model is adopted to describe the surgeon’s motions. Endurance time of posture configurations and muscle pressure of different wrist angles are as comfort indexes to evaluate the surgeon comfort. Eventually, combined the reachability test to obtain the relatively comfortable port region for surgeons in minimally invasive surgery.
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