标题: 植牙辅助装置之设计与控制
Design and Control of Dental Implant Auxiliary Device
作者: 施威廷
Shih, Wei-Ting
呂宗熙
Liu, Tzong-shi
機械工程系所
关键字: 控制;植牙;Control;Implant
公开日期: 2012
摘要: 植牙手术于现今医疗中仍无健保给付,且整体过程需花费长时间,若不慎手术失败不仅影响其功能亦不美观,并可能衍生出许多的医疗纠纷。本研究旨于运用电脑辅助系统和微小辅助机构使植牙手术成功率增加,对该机构之定位与植体植入时所需之螺杆马达的转动角度控制。
研究主要分为两个面向,超音波马达致动平台改良与控制设计,以及植体手术所需之线性步进马达进给深度控制器和Z轴机构设计;前者系以六个超音波马达所构成之六轴致动平台,由六个超音波马达间的作动组合,使其可完成XY两轴方向的平移和旋转,以利于植牙时所需之各种角度的改变与动作,为使其可精密定位和多轴控制效果,而设计了双回授比例积分微分控制器,以改善动件定位控制过程中Overshoot的情形发生,并且缩短Settling time。
后者则为利用线性步进马达作为植牙辅助机构之Z轴使用,其将同时具备旋转和线性两种运动方式所组合的螺旋运动,藉由此一运动模式来将植体锁入齿槽骨中。为避免在植体植入过程中因为深度过深而伤害到骨头,因此,设计一控制器来控制螺杆的旋转角度,并经由换算后进而间接控制线性步进马达的螺杆位移深度。本研究已经设计制作原型机,以便测试性能。
Dental implant surgery in today’s medical still has no national health insurance benefits, and the whole process takes a long time. If the surgery accidentally failed not only affects its usefulness or beauty, but also may incur a lot of medical disputes. The objective of this study is using computer-aided systems and device to increase the success rate of the implant surgery, by controling devices position and the angle of motor rotation.
This study includes two main parts. The first is the design of ultrasonic motor (USM) controllers and improving the motor actuator stage. The other one is the design of a Z-axis actuator and its controller. The actuator stage consists of six ultrasonic motors to become a six degree-of-freedom actuator stage. Displacement and rotation along X and Y axes are achieved by using six USMs actuation combination for variations of the displacement and angle when implant surgery needs. This study designs a double-feedback PID controller for the USM stage to improve the position accuracy and to reduce settling time and overshoot in transient response.
Concerning the Z-axis actuator, this study uses a linear stepping motor that implants with screw motion. To prevent the lead screw, which is on the stepping motor, implanting too deep and getting hurt, this study designed a controller to control the lead screw depth by calculation based on the rotary angle and pitch of the lead screw. The author has designed and fabricated a prototype in order to measure device performance.
URI: http://140.113.39.130/cdrfb3/record/nctu/#GT070051047
http://hdl.handle.net/11536/71904
显示于类别:Thesis