| Summary: | 碩士 === 國立臺灣大學 === 機械工程學研究所 === 107 === In recent years, endoscopic minimally invasive surgery has been widely used in the medical field because of its small wounds, which can shorten the postoperative recovery time and thus reduce the pain of patients. The endoscopic minimally invasive surgical robotic arm combined with robotic technology can achieve more precise surgery, improve the efficiency of surgery, and expand the application range of minimally invasive surgery. The main purpose of this thesis is to design an end controller with a soft distal motion center to achieve an endoscopic minimally invasive surgical robotic system that can cooperate with doctors.
In the thesis, we derived the kinematics and dynamic model of the robotic arm and the endoscope at first. The simulation model of the endoscope and the manipulator is established. The trajectory is planned for the minimally invasive incision, and we derive the algorithm for endoscope control. The compensation algorithm of the endoscope angle is used to achieve the task of collaborating with the doctor by using the small mass module, and an endoscope holder with software remote center of motion. Make the manipulator move in accordance with the planned trajectory in the abdominal cavity without destroying the incision. Finally, the control algorithm would be implemented with the arm controller API and MATLAB model to verify the theoretical feasibility.
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