本文提出一種新型被動式腹腔鏡手術扶持器，該扶持器透過靜平衡機構(Statically balancing mechanism)設計方法，可以不需任何驅動馬達或機械性鎖附接頭等，便能靜止地停留在任何手術需求位置上。此新型扶持器由「定位」與「定向」兩機構組成，定位機構提供腹腔鏡定位(Positioning)功能，定向機構則負責腹腔鏡角度定向(Orientating)功能，兩機構可獨立分開操作，使用上更加便利。此外，本設計並具備遠端運動中心(Remote center-of-motion)特性，限制扶持器於手術切口之橫向位移，提供更佳的操作安全性。本文首先回顧現有的主動式與被動式腹腔鏡扶持器，並比較其優缺點與歸納待改善問題。接著，根據以上回顧，訂立本研究之設計目標，進而提出一新型之被動式腹腔鏡扶持器機構，再透過拉伸彈簧之彈力，使腹腔鏡扶持器達成全域靜平衡(Fully static balancing)之效果。本文並分析該腹腔鏡扶持器之順向及逆向運動學以及運動空間，藉此得知腹腔鏡扶持器的運動範圍，以及利用電腦輔助機構運動模擬軟體，驗證本設計之全域靜平衡理論模型的正確性。最後，製作本設計之原型機，經測試後發現本新型扶持器可靜止停留於任意位置上，驗證本設計確實可行。

This thesis presents a novel passive laparoscope holder that employs the concept of statically balancing mechanisms for positioning and orientating the laparoscope. In other words, the proposed design is able to stay rest at any required surgical location without the use of electric motors and/or mechanical joint locks. The system is composed of a positioning mechanism and an orientating mechanism. These two mechanisms are respectively responsible to position and orientate the laparoscope, and each of them can be manipulated independently. The new design also realizes a remote center-of-motion that constrains the lateral motion of the laparoscope on the abdomen wall of the patient to avoid injury to during surgical operation. In this thesis, we first survey the laparoscopic procedures and compare the existing active and passive holders. Based on this comparative study, we conclude the essential design requirements for laparoscope holders and, accordingly, propose a new mechanism concept. The proposed mechanism is not driven by any electrical actuation but is statically balanced at any location within workspace by using springs. Furthermore, we derive the analytical solutions of the forward and inverse kinematics and demonstrate reachable and orientation the workspaces of the holder. In addition, we use the computer-aided software to verify the theoretical model of the statically balanced holder. Finally, we build a prototype of the new design, verifying that the holder does be able to stay at any arbitrary position and orientation without the use of electrical actuation or mechanical locks.

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