| Summary: | 碩士 === 國立中正大學 === 機械工程系研究所 === 105 === This purpose of this study was extracting spinal tissue from magnetic resonance imaging(MRI), reconstruct the 3D model and design a computer aided system (CAS) that can provide surgeon with the preoperative planning and robot-guided positioning of path. The end effector of the 5DOF robot would be automatically positioned correctly to assist surgeon to perform an operation while obtaining the data of the path placement planed in CAS system. The reference marks need to be set on the dummy during MRI scan, and the image system is set up to establish the transformation between the two coordinates of the CAS system and 5DOF robot system.
In practice, the extraction of MRI image will use the active contour model to extract tissue which we want(ex: spinal cord、artery、vein). The 3D reconstruction will use the iso-surface extraction to build up the 3D model. The dummy which we made was made by 3D printer and fill up the water and oil to make sure it will image in MRI image. In addition, the 5DOF robot system composes of the Delta robot with three translational DOF and RCM mechanism with two rotational DOF, and the RCM mechanism is installed on the end effector of the Delta robot.
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