基於模型重建之手術器械接觸力估測研究

Abstract

本論文之主要目的在為微創手術研發一套基於影像3D模型形變量量測以估測接觸力的方法，使能提供手術中之力資訊，增加手術之安全性。為了讓醫生在使用力回饋設備操控手術器械時能夠感受到器械與人體組織間的接觸力，本論文提出以3D模型之方式計算組織形變，再透過物性模型估測力資訊。利用內視鏡畫面進行3D影像量測，進而計算出人體組織受器械碰觸後之形變，再結合物性模型計算出力資訊，並傳送至力回饋裝置，達成使醫生感受到接觸力的目的。組織形變區域的判定採用結合器械追蹤的方式，得知器械在內視鏡畫面中的位置，進而判斷目前在內視鏡畫面中的形變區域。論文中以實驗驗證所發展的方法，分別以六軸機械臂以及三自由度手術機器人配合內視鏡進行實驗，展示本論文所提出之3D模型估測接觸力方法之有效性。

This thesis aims to develop a method to estimate contact force for minimally invasive surgery (MIS) by using image processing and 3D reconstruction modeling. In order to provide surgeons a feeling of contact force between human tissue and instrument, we develop a method to calculate tissue deformation by reconstructing 3D model and estimate force information. The force information will be feed-back to a haptic device to allow a surgeon feel contact force. In this thesis, we propose a 3D model reconstruction method to calculate tissue surface under deformation, and use the deformation data to obtain contact force near the instrument tip. By image tracking, we locate a surgical instrument in the endoscopy scene, then determine the deformation area in the image scene. Several experiments validate the method for deformation calculation design. The force estimation system is further evaluated by several users through the force reflexive joy stick.