在腦神經外科領域中，立體定位手術為一項廣泛使用的核心技術，可用在深腦電刺激、活檢、燒灼術等。通常在手術前會先透過腦部的醫學影像確立目標點並進行手術規劃。手術中醫師於頭骨上鑽一小孔讓器械進入腦內以減少腦組織的傷害，但由於開孔非常小，因此在手術進行中無法確認器械末端位置。另外開顱後因腦脊髓液流失造成腦組織形變，導致定位誤差。為提升手術效率以及定位的精準度，本研究結合術中磁振造影以及機器定位系統，發展出影像導引立體定位機器人並建立其順、逆向運動學，並提出位置補償演算法。相較於傳統定位儀，本研究開發之定位機器人僅需五個自由度，除降低成本外，使用上更加直觀且因致動器較少而降低電磁波對影像的干擾。
本研究利用自製凝膠假體，實際在磁振造影系統中模擬定位機器人進行立體定位手術。發展定位架以進行座標對位，將目標點位置從掃描艙座標轉至機器人基座座標。此外，利用3D Slicer軟體點選目標點位置，再帶入逆向運動學求出機器人關節運動參數，控制驅動系統讓機器人自動定位並進行手動穿刺。結果顯示運用術中即時影像回授和位置補償演算法，位置誤差可從5.15±0.56 mm降低為2.97±0.46 mm。本研究提出的影像回授位置補償方法可以有效降低位置誤差量使導針接觸到目標，另外整合Solidworks, Labview和3D Slicer等軟體可以模擬立體定位手術的過程，提供臨床醫師術前模擬之用。

Stereotactic surgery is an important core technology that has been widely used in the field of neurosurgery for biopsy, ablation and deep brain stimulation (DBS). The surgery is operated through a small keyhole and it is hard to confirm the position of surgical devices. The performance of the surgery depends on accuracies of surgical devices positioning and pre-operation images. Integrating intraoperative magnetic resonance images and surgical robots can enhance the efficiency and safety of the patients. In this study, a five-degree-of-freedom (DOF) mechanism developed in our previous work was used to do the stereotactic surgery procedure with MRI guidance. A Z-shape fiducial module was employed to do the registration between scanner coordinates and robot coordinates. The MRI-guided experiment was operated within a 3T MRI scanner with a custom-made phantom. To improve positioning accuracy, a compensation method was derived based on the kinematic model of the robot. The results showed that MRI-guided targeting accuracy was 5.15±0.56 mm. After compensation, the targeting accuracy was improved to 2.97±0.46 mm and the cannula tip can touch the simulated target successfully. Furthermore, softwares Solidworks, Labview and 3D Slicer were integrated to build a system that can perform surgical planning, simulation or animation of the stereotactic surgery procedure.

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