機械手臂近幾年來應用於外科手術醫療領域方面有相當卓越的
表現，並將外科醫學引導邁入具革命性創新的第三代外科手術，即
融合高科技結晶所發展之微創機器手術（Minimally Invasive Robotic
Surgery，MIRS）。
目前有三種機器手術系統已上市使用且被應用在不同的手術用
途中，包括Aesop、Zeus及Da Vinci。另外，在歐美或是日本，亦有
研究單位投入大量的資源，研究開發其他之機器手術系統。
本論文主要內容為設計一手術端之機械手臂，以及具有多個自
由度之手術刀，將其模型化並組合；採用順向以及逆向運動學推導
該機械手臂之運動方程式，利用位置控制，並透過現有之三套套裝
軟體相互配合應用，模擬預設之運動路徑並對其模擬結果進行分析
及討論，預設路徑則包括基本位移測試、積木排列以及益智跳棋等
。所使用之套裝軟體則包括Matlab、Solid Edge，以及MSC. Visual
NASTRAN 4D。

The main subject of this thesis is to design a patient-side robotic arm
of Minimally Invasive Robotic Surgery system with multi-degree of
freedom. Then, we analyze some properties for preset routes. The
formulas were derived from forward and inverse kinematics. Several
softwares were used to complete the simulation. These softwares include
Matlab, Solid Edge, and MSC. Visual NASTRAN 4D.
Each link of the arm and mechanism was drawn by Solid Edge and
loaded in MSC. Visual NASTRAN 4D to simulate the system. Several
preset routes were used to test the robotic motions.

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