立體定位手術為近代神經外科重要的手術之一，其應用相當廣泛，近年來在臨床治療方面取得相當好的成效，無論是用在活組織切片、燒灼術、深腦電刺激等等，立體定位手術相當依賴目標點定位的準確度。許多研究投入術中影像導引立體定位手術，以提升手術的安全與效率。本實驗室團隊先前完成了五軸的磁振造影相容立體定位手術機器人，並驗證了機器人於磁振造影環境的相容性，也完成了在磁振造影掃描艙中的手術模擬。本研究接續了此立體定位手術機器人，修改運動學模型、提出演算法以改善機器人定位的準確度。以壓電馬達做為致動器，加入機器人第五軸進針系統，使機器人所有自由度皆可自動。機器人在穿刺目標物的同時，透過進針機構整合荷重元結構的設計，並配合磁振造影相容的光纖力感測器即時回饋導針接觸力。
本研究完成運動學模型校正，提出機器人定位誤差預先補償法，使針尖平均誤差有效下降。其次完成第五軸進針機構自動化之設計與製造，減少了人為手動進針的誤差，所加入的進針機構穿刺力回饋次系統，能量測到導針穿刺與大腦機械性質相似假體時所受的力。最後完成仿真大腦假體與五軸立體定位手術機器人，在一般空間進行手術規劃實驗並模擬掃描艙中手術流程。結果驗證了本研究發展之進針機構能精確控制導針穿刺深度及回饋導針受力以提高神經外科立體定位手術安全性。

Stereotactic surgery is one of the major surgical procedures in modern neurosurgery. It has a wide range of applications and has achieved great success in clinical treatment. In our previous research a five-axis magnetic resonance imaging (MRI) compatible stereotactic robot has been developed. Although the compatibility of the robot in MRI environment has been verified and surgical simulations of the system within an MR scanner using phantoms were successfully performed, however, the accuracy of end effector positioning was not acceptable clinically and the system lacks haptic feedback for the surgeon. In this thesis, method to improve the accuracy of the robot’s positioning are proposed and a new needle insertion mechanism driven by linear piezoelectric motor is developed to automate all axis of the robot. In addition, optical strain sensor-based MRI-compatible load cell is developed for sensing the reaction force exerted on the needle from the brain phantom during the insertion procedure. Last, simulations of biopsy on two phantoms were conducted to evaluate performance of the robot. After tuning of kinematic parameters and using the compensation method the position error was reduced from 3.21±1.55 mm to 1.84±0.89 mm. Results of simulating the biopsy procedures show that the needle can be controlled to penetrate the tumor phantom within the brain phantom and the axial reaction force history match well with that obtained from a biomaterial testing machine. In conclusion, the positioning accuracy of the robot can be improved by the pre-compensation method and the integrated load cell can measure the reaction force successfully. Integrated with the intra-operative MRI feedback the efficiency and safety of neurosurgeries may be improved by the MRI-compatible stereotactic robot.

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