現今神經外科取樣手術過程中，腦組織會因開顱或手術器械穿刺使得腦脊髓液流
失，導致目標點位置與術前規劃的位置有偏差，因此為了提供手術成功率與安全性，
能夠即時監測手術器械位置的術中磁振導引技術，是目前神經外科手術重要研究之一。
本研究團隊先前已發展了磁振造影相容的立體定位機器人以及影像與機械性值仿真
的含腫瘤大腦假體，本研究目標為發展可讓神經外科醫師遠端進行取樣手術的觸覺回
饋系統，此系統包含由外科醫師操作的主系統裝置與對病人進行手術的從系統裝置。
外科醫師透過此系統可以從遠端控制手術機器人的進針動作，並感受活檢針穿刺大腦
時產生的反作用力。
首先，透過 Solidworks 進行主系統裝置的操作桿設計以及有限元素分析，透過連
桿裝置、壓電馬達與彈簧完成硬體設備，並使用 LabVIEW 程式發展即時雙向控制系
統，此系統包含位置控制迴路與力量控制迴路。位置控制迴路使用速度前饋與比例控
制器控制手術機器人位置，力量控制迴路共 4 種設計架構，使用了自抗擾控制、模糊
控制器、PI 控制器等方法，並透過實驗評估 4 種架構的力量追踪表現。最後選用 PI
控制器結合自抗擾控制作為最終的力量控制迴路並進行後續實驗，包含假體軟硬程度
的辨識、以及本研究團隊先前發展的各型態腫瘤假體穿刺。實驗結果顯示使用者可透
過本研究的觸覺回饋系統辨識組織的軟硬度並感受組織破裂的力量。本研究發展之觸
覺回饋系統配合磁振造影相容立體定位手術機器人能提升神經外科手術安全性與成
功率。

During the neurosurgerical biopsy operation, the brain tissue may lose cerebrospinal fluid due to craniotomy or surgical puncture, resulting in the deviation of the target position from the pre-surgical planned position. To improve the success rate and safety of the surgery, intraoperative image guidance is getting popular and the intraoperative magneticresonance-image guidance technology for the positioning of surgical instruments becomes an important research area in neurosurgery. Our team has previously developed an MRIcompatible stereotactic surgical robot and tested on MRI-and-biomechanics mimicking brain-and-tumor phantoms. The main goal of this study was to develop a haptic feedback system that allows neurosurgeons to perform remote biopsy procedures. The haptic
feedback system is consisted of two subsystems, namely a master system that operated by a neurosurgeon and a slave system that performed surgery on the patient. Through the haptic feedback system, the neurosurgeon can remotely control the needle insertion mechanism of the surgical robot and feel the reaction force during the biopsy procedure.
The joystick design and finite element analysis of the master system were performed using software Solidworks. The hardware is consisted of a linkage device, a piezoelectric motor and a spring. Then a LabVIEW program is used to realize the real-time bilateral control system that has a position control loop and a force control loop. The position control loop uses velocity feedforward and proportional feedback to control the position of the surgical robot. For the force control loop, four control structures that combined proportional plus integral (PI) controller, fuzzy controller and an active disturbance rejection control were realized. Then the transparency and effectiveness of the four control structures were evaluated through the biopsy procedure on brain phantoms. Based on the experiment results, the PI controller combined with the active disturbance rejection control method was chosen for the final force control.
Human experiments were carried out to evaluate the performance of the haptic feedback system, based on identifiability of the hardness of the phantoms and the puncture instant of various tissues of phantoms which were developed in our previous research. The experimental results show that the hardness of the tissue can be recognized successfully in six out of seven subjects, and the force of tissue rupture can be felt correctly. In conclusion, the haptic feedback system developed in this study may be used in the simulation and training of MRI-guided neurosurgical operations to improve the safety and success rate of the surgery.

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