機器人輔助微創手術為近十年來廣受矚目的手術科技，藉由機器人輔助下，可大幅改善醫生因手術時間過長而造成的手抖與疲勞現象，而對於病人亦可降低其手術風險性、減少術後併發症、縮短術後復原時間。近幾年來已陸續有許多微創手術機器人被提出，Kuo與Dai [1]於2012年提出了一種具有四個自由度的全解耦並聯式微創手術機器人構想，其中最特別的是，該機構具有運動全解耦特性，即刀具的四個活動自由度可分別受單一馬達獨立控制。然而，在Kuo與Dai的研究中，僅提出該機器人之機構構想與逆向運動學分析，對於機器人的動力特性與具體實現並未加以探討。本論文之目的即進行該機器人之動力分析以及機電系統設計與實作，研究首先推導機器人之順向運動學解，求得該機器人驅動馬達與末端效應器之位移關係，並利用螺旋理論(Screw theory)分析機器人各接頭與末端效應器之速度關係，再透過拉格朗日動力分析法(Lagrangian dynamic formulation)，求得驅動馬達之扭矩方程式。基於以上理論分析結果，本論文進一步著手該機器人系統之機電整合實作，搭配搖桿、電腦與光學式定位器等硬體設備，建構該新型微創手術機器人系統，並完成時間誤差、全解耦驗證、角度誤差與重複精度等四項實驗測試。實驗結果顯示，本實作機器人確實可展現其運動全解耦之特性，唯系統之時間反應與輸入/輸出角度誤差仍有其改善空間。本研究成果期可有助於該新型手術機器人之具體臨床應用與實現。

Robotically-assisted minimally invasive surgery is a modern surgical technology that has called wide attention in the past decade. Via the helps of surgical robots, not only can be the surgeon’s hand tremor and fatigue dramatically minimized, but also the patient’s safety and recovery time are significantly reduced. There have been numerous surgical robots proposed in recent years for minimally invasive surgery. Among them, Kuo and Dai [1] presented a special mechanism concept of a kinematically fully decoupled parallel manipulator in this kind. Most interestingly, this special mechanism is featured by its kinematic decouplebility, which means each output motion degree-of-freedom of the robot can be independently controlled by one corresponding actuator. However, only the novel structure and inverse kinematics analysis of the manipulator were reported in their study. Nothing else (e.g., dynamics analysis, validation, etc.) was discussed in their results. This thesis, therefore, aims to extend Kuo and Dai’s contribution, studying the dynamic characteristics of the robot and implementing its mechatronic system. First, we embark with the forward kinematics analysis of the robot manipulator. Then, based on screw theory, we investigate the velocity relationship between the joints and the end-effector. Next, we present the analytical solution of the torques of the four motors by Lagrangian dynamic formulation. Finally, we build up the mechatronic system including the robot, optical tracker system, joystick, computer, etc. for validating the feasibility of the concept. Four experiments including the time error test, kinematic decouplebility test, angle error test, and repeatability precision test are carried out for the system. The results show that the kinematic decouplebility of the robot can be satisfactorily implemented through the test-rig, but the time response and the input/output angle error need to be further improved. In conclusion, it is anticipated that the outcome of this study can promote the practical uses of this new surgical robot.

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