本研究致力於開發一套下顎骨重建手術系統(Computer Assistance Mandible Reconstruction System)底下簡稱CAMRS。CAMRS系統整合一套光學式掃描與運動擷取統合為一的三維定位器以及一四軸導引機器人，透過軟體整合，當腓骨在手術中取出後可立即掃描建立腓骨數位模型。根據醫師術前規劃切除部位的幾何特徵形狀進行腓骨切塊的規劃。再以四軸機器人導引面型雷射光照射在預計切塊的位置及方向上，由醫師使用無菌筆在腓骨上畫出切割線。畫出切口位置後，由醫師用骨鋸將腓骨切塊，使切塊的腓骨可拼成欲重建的下顎骨形狀，使切出的腓骨塊可拼成欲重建的下顎骨外緣形狀，且拼接面平整、縮短癒合時間。
本文使用Denavit-Hartenberg(D&H)參數來建立機器人系統運動學模型，並推導順向以及逆向運動學。同時針對四軸導引機器人各軸設計不同的校正方法，透過三維定位器量測四軸導引機器人各軸之空間位置。並且透過校正實驗得到各軸校正結果，計算四軸導引機器人之機構參數(Denavit-Hartenberg參數)，根據校正結果得到之機構參數控制導引機器人。同時我們規劃數個導引切割位置，並且由運動學模型求解關節資訊來控制導引機器人至切割位置，由三維定位器追蹤導引位置並且分析導引誤差。最後本文亦設計一最佳化Denavit-Hartenberg(D&H)參數方法，由理想導引切割位置以及導引實驗的結果並透過Nonlinear Least Squares-Levenberg-Marquardt algorithm來求得最佳Denavit-Hartenberg(D&H)參數。最後透過程式整合EPCIO運動控制卡以及三維定位器，來完成各軸之自動化校正流程並且優化Denavit-Hartenberg(D&H)參數，同時將三維定位器與四軸導引機器人註冊。最後進行系統模擬驗證實驗，由光學座標系統下規劃切割的腓骨位置轉換至機器人座標系統下，由逆向運動學求解關節資訊，透過EPCIO運動控制卡控制機器人導引雷射面照射在切割位置。

The purpose of this study is to develop a mandible reconstruction surgery system CAMRS (Computer Assistance Mandible Reconstruction System). CAMRS system includes a dual mode scanning/motion capturing optical 3D locator, a 4-axes laser guiding robot, and a software system for surgical planning. The system first imports a defected mandible STL model. Doctors then locate the boundaries of nidus. And the CAMRS can automatically decide optimal cutting planes to reconstruct the mandible shape. Upon receiving the parameter of the cutting planes, the robot would guide laser plane to project on fibula.
Doctor can draw cutting location using a surgical making pen according to the laser line that project by the robot. Doctors can then use handy saw to cut the fibula precisely. In this way, the reconstructed mandible by fibula bone segments will be smoothly fit together that will reduce the re-habilitation time. The study establish a 4-axes laser guiding robot kinematic model by using Denavit-Hartenberg (D&H) parameter and computed the forward and inverse kinematics of the 4-axes laser guiding robot. We also derived a novel calibration method using the 3D locator and computed axes calibration result by machine vision technology. After calibration, D&H parameters of the robot are obtained without tedious measurement. An optimal set of D&H parameters is also obtained using the Nonlinear Least Squares-Levenberg-
Marquardt algorithm. All the calibration processes for each axis are fully automated, and are presented in this study. Once the calibration finished, program will compute Denavit-Hartenberg (D&H) parameter and the robotic coordinate and optical coordinates are also registered together automatically. Upon receiving the fibula cutting positions, we can solve the joint angles to control the robot via the inverse kinematic, to guide the laser plane.
This paper establishes a fully automatic method to calibrate the D&H parameters for 4-axes robot without assumption of knowing the joint axes direction of the robot. This will save much time on the installation of the robot. In additions, the registration process between robot and 3D locator are also automated.

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