隨著醫療體系人力短缺、配藥過程的人為疏失造成損害的比例越來越高，配藥流程的自動化逐漸成為趨勢。現今的自動化分藥系統主要以西藥或科學中藥為主，鮮少有針對傳統水煎中藥進行研究與開發。然而傳統水煎中藥因為療效較好，仍占有廣大的市場且需耗費更多的時間與人力。本研究發展一套用於傳統水煎中藥的自動化分藥系統，由使用者先輸入所需的藥品、帖數、各味藥的重量。根據輸入的資訊，系統可自動抓取每一帖藥所需的中藥與重量。本研究使用機械手臂結合影像進行對位抓取，透過事前訓練求得各中藥抓取重量與對應夾爪開合量的抓取方程式以提升整體系統執行的效率與準確度。實驗結果驗證本系統的可行性。

The increasingly lack of manpower and mis-operation during dispensation has brought the advent of automatic dispensing systems recently, which focus on western medicine and concentration scientific herbal medicine. Due to its medical efficacy traditional herbal medicine is still preferred for clinical use but manual dispensation requires significant time and manpower. Therefore, this thesis presented an automatic dispensing system for Chinese herbal decoctions. After importing prescription details such as drug name, dosage and weight of each herbal medicine, the system then automatically performs the desired dispensing task. The study adopted machine vision and a robot manipulator to grasp herbal medicine. To improve efficiency and accuracy, a least-square curve fitted equation which relates the grasping weight with gripper width was obtained through iterative training. Dispensing experimental results were conducted to verify the feasibility of the proposed system.

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