| Summary: | 碩士 === 國立中正大學 === 機械工程系研究所 === 105 === This study proposes an assist surgical positioning system for transthoracic biopsy. Since the biopsy target in the thoracic would be sheltered by rib, the transthoracic biopsy become difficult for expperienceless surgeon. So that, this system can provide surgeon with the preoperative planning and robot-guided positioning of biopsy needle. The system composes of two subsystems: CAS system and 5DOF robot guidance system. The end effector of the 5DOF robot would be automatically positioned correctly to assist surgeon place the biopsy needle while obtaining the data of the needle placement planed in CAS system. The reference marks need to be set on the patient during CT scan, and the image system is set up to establish the transformation between the two coordinates of the CAS system and 5DOF robot system. Furthermore, the markers need to be captured in CT scan and image system no matter what position the patient lie on the operation table. In addition, the 5DOF robot system composes of the Delta robot with three translational DOF and RCM mechanism with two rotational DOF, and the RCM mechanism is installed on the end effector of the Delta robot. Finally, the feasibility of the assist surgical positioning system for transthoracic biopsy has been confirmed via the experiment applied the dummy.
|
|---|
