本研究提出一種新型腹腔鏡手術機器人器械，該器械具有末端腕部偏擺(pan)、夾取/剝離(grasping/dissecting)與自轉(roll)等三個自由度，且腕部可雙邊擺動以及夾爪可雙動開合。該傳動機構，具有運動解耦特性，即器械的三個自由度可分別由三顆馬達獨立控制，且彼此不互相影響。此外，本器械亦具有模組化功能，能快速地與驅動模組進行拆裝，進一步建構一主從動式(master-and-slave)機電整合控制系統，使用者可透過搖桿驅動器械的運動自由度。此系統未來可輕易整合於機器手臂上，形成一腹腔鏡微創手術機器人系統。最後，完成一系列的硬體測試與量測，包含新型器械之解耦測試與量測、系統重複性與重現性量測、傳動機構受力測試與夾取傳送功能測試等。實驗結果顯示，本新型器械之腕部擺動與夾爪運動的確互不影響，為運動解耦。在系統性能方面，腕部擺動之準確度與精密度最大誤差分別為1.327˚與0.055˚；而腕部在15˚至70˚之來回擺動以及夾爪在27˚至40˚之來回開合具有高重現性。實驗亦驗證本器械腕部可承受3 N之負載。

This thesis presents a novel robotic laparoscopic instrument that has dual-side rotatable wrist and two-movable-jaw gripper. The new instrument has three degrees-of-freedom (DoF) including the pan rotation of the wrist, the grasping/dissecting of the gripper, and the roll rotation of the tool axis. Furthermore, the proposed instrument has a fully decoupled kinematics, i.e., the three DoFs are independently controlled by three actuations, respectively. Furthermore, the modularization of the proposed instrument was developed for quick docking on actuator module. We also built a master-and-slave mechatronic system for the instrument controlled by a joystick in master side. This mechatronic system can be easily integrated or implemented on common robotic arms. Finally, we performed a series of experiments for the built mechatronic system including the decoupled kinematics test and measurement, repeatability measurement, reproducibility measurement, force transmission ability test, and surgical manipulation test. The results show that the proposed instrument does possess a decoupled kinematics. The maximum errors in accuracy and precision of the tool tip motion (i.e., wrist) are 1.327˚ and 0.055˚, respectively. The system illustrates good reproducibility between 15˚ to 70˚ for wrist pan motion and between 27˚ to 40˚ for gripper motion. It also verified that the wrist can bear a 3-N payload.

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