近年來，在自動輔助微創手系統被開發了出來，並且已有實際應用的例子，例如達文西系統與華盛頓大學的渡鴉系列Raven的手術機器人，都是很成功的實際案例，由於氣壓系統的動力源可調與乾淨、長行程以及非導磁的特性，使氣壓系統更適合用於多變化的醫療輔助系統內。本文開發出用伺服氣壓系統驅動的微創手術用操作器，並用三個氣壓缸來驅動鋼繩與兩個自由度的旋轉機構與器械前端機構，器械前端機構設計成可替換式的結構，使操作器不僅僅是單一功能，為了避免驅動時鋼繩互相干擾作動本文參考Endowrist設計閃線機構，本文參考文獻中所提及的自調式模糊控制器配合閥軸與系統的死區補償，來做操作器的定位控制實驗，並討論其實驗結果。運用設計的控制器能夠使本文的操作器在第一軸60度、90度、120度控制目標下的穩態控制誤差皆為-0.0001mm，計算角度誤差分別為-3.00度、-4.5度以及-6.00度的誤差之下。在第二軸上分別為0.0023mm、0.0013mm、0.0018mm，計算角度穩態誤差分別為2.96度、4.48度、5.97度。以上的控制誤差皆符合醫療系統上的需求。

In recent years, the automatic assistance system in the Minimally Invasive Surgery (MIS) have been developed and applied in the practical case; e.g. DaVinci Surgical System and the Washington University Raven Surgical Robot. The pneumatic system have the characteristics of the variable, clear power source, long stroke and nonmagnetic. Let the system is suitable to use in the medical assistance system. In this study, a surgical manipulator is developed. It be composed by three pneumatic cylinders and the mechanism. These cylinders are utilized to put the wire to drive the 2DOF rotational mechanism and the front mechanism. The front mechanism is designed to replace the tip structure, so that the manipulator has multifunction .To avoid the obstruction of the wires with each other, the Endowrist manipulator is referred. And in the controller design, the self-tuning fuzzy controller with deadzone compensator is taken by reference to control the manipulator be designed in the study. At the last will show the control result and discuss it. The manipulator controlled by the controller that the axis-1 state steady error be controlled under -0.0001 mm and the calculated error of degree are -3 deg, -4.5 deg and -6 deg. At the axis-2 the controlled error are 0.0023 mm , 0.0013 mm and 0.0018 mm .The calculated error of degree are 2.96 deg, 4.48 deg and 5.97 deg. These experiment result are all suitable the error requirement of the medical system.

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