慢性傷口因其不易癒合且易感染的特性，對醫療體系與病患生活品質皆造成重大負擔。現行臨床多仰賴人工評估與手動操作進行治療，耗時費力且治療品質易受影響，顯示出自動化精準治療技術的需求。本研究針對此臨床困境，開發一套具人工智慧與自動控制能力的仿醫生操作之機械手臂電漿治療系統，整合非熱微電漿裝置(Gentle Plasma Skin Regenerator Model 2, GPSR_M2)、深度學習傷口辨識模型、深度相機三維掃描與面積計算，以及六軸機械手臂控制，實現全流程自動化治療作業。本研究所應用之非熱微電漿技術，具備低溫與活性氧氮物種特性，可有效促進傷口癒合且不產生熱傷害，為近年醫療應用研究焦點之一。相較於以往研究多著重於電漿治療或影像辨識單一面向，本研究整合上述多項技術，實現從傷口辨識、面積量測、到電漿治療的流程控制。系統採用U-Net深度學習模型進行影像分割，搭配深度相機與點雲處理演算法進行傷口面積估算。軟硬體整合架構方面，採取前後端分離架構建立直覺式使用者介面，並達成資料處理與機械手臂控制。六軸機械手臂搭載電漿裝置與深度相機，依據辨識結果執行傷口定位與治療作業。本研究進一步驗證系統的移動性能與安全性，包括電漿溫度、放射光譜、紫外線強度、以及機械手臂在負載條件下的移動精度與速度，皆符合相關規範或本研究所定義之標準。軟體系統亦展現良好效能與整合度，涵蓋深度學習模型訓練、即時影像處理與人機互動控制。綜上所述，本研究提出之仿醫生操作之機械手臂電漿治療系統為一具整合性與自動化潛力之創新平台，未來可望應用於臨床傷口照護流程中，進一步提升治療效率與品質。

Chronic wounds, due to poor healing and high infection risk, strain healthcare systems and patients. Current treatments rely on manual assessment and operation, which are time-consuming and inconsistent—highlighting the need for automated, accurate solutions. To address this, this study developed a doctor-mimicking plasma treatment system integrating AI and automated treatment. The system combines two non-thermal micro-plasma devices (GPSR_M2), a deep learning wound recognition model, 3D scanning via a depth camera, and a six-axis robot arm, enabling full-process automation. The plasma produces low-temperature reactive species that promote healing without thermal damage, ideal for medical use. Unlike prior work focusing solely on plasma therapy or image analysis, our system performs wound segmentation, measurement, and treatment in an integrated workflow. A U-Net model was used for image segmentation, and point cloud algorithms for area measurement. The software adopts a frontend-backend structure enabling an intuitive user interface, real-time image processing, and robot control. The robot arm, with plasma devices and depth camera, executes wound localization and automated treatment based on segmentation results. System safety was confirmed through tests on plasma temperature, emission spectrum, UV intensity, and robotic accuracy, all meeting medical standards. The interface showed strong functionality and real-time responsiveness. In summary, this doctor-mimicking plasma system provides a compact, automated wound care solution that improves treatment quality.

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