• 로봇학회논문지
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• 제3권1호
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• pp.58-67
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• 2008

This study developed a novel augmented reality interface for minimally invasive surgery. The augmented reality technique can alleviate the sensory feedback problem inherent to laparoscopic surgery. An augmented reality system merges real laparoscope image and reconstructed 3D patient model based on diagnostic medical image such as CT, MRI data. By using reconstructed 3D patient model, AR interface could express structure of patient body that is invisible outside visual field of laparoscope. Therefore, an augmented reality system improved sight information of limited laparoscope. In our augmented reality system, the laparoscopic view is located at the center of a wide-angle concave screen and reconstructed 3D patient model is displayed outside the laparoscope. By using a joystick, the laparoscopic view and the reconstructed 3D patient model view are changed concurrently. With our augmented reality system, the surgeon can see the peritoneal cavity from a wide angle of view, without having to move the laparoscope. Since the concave screen serves immersive environments, the surgeon can feel as if she is in the patient body. For these reasons, a surgeon can recognize easily depth information about inner parts of patient and position information of surgical instruments without laparoscope motion. It is possible for surgeon to manipulate surgical instruments more exact and fast. Therefore immersive augmented reality interface for minimally invasive surgery will reduce bodily, environmental load of a surgeon and increase efficiency of MIS.

• 로봇학회논문지
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• 제12권4호
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• pp.411-418
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• 2017

During the intramedullary nailing procedure, surgeons feel difficulty in manipulation of the X-ray device to align it to axes of nailing holes and suffer from the large radiation exposure from the X-ray device. These problems are caused by the fact the surgeon cannot see the hole's location directly and should use the X-ray device to find the hole's location and direction. In this paper, we proposed the robotic guidance of the distal screwing using an optical tracking system. To track the location of the hole for the distal screwing, the reference marker is attached to the proximal end of an intramedullary nail. To guide the drill's direction robustly, the 6-degree-of-freedom robotic arm is used. The robotic arm is controlled so as to align the drill guiding tool attached the robotic arm with the obtained the hole's location. For the safety, the robot's linear and angular velocities are restricted to the predefined values. The experimental results using the artificial bones showed that the position error and the orientation error were 0.91 mm and $1.64^{\circ}$, respectively. The proposed method is simple and easy to implement, thus it is expected to be adopted easily while reducing the radiation exposure significantly.

• 제어로봇시스템학회논문지
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• 제22권8호
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• pp.615-618
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• 2016

This paper proposes a method to estimate vertical interaction force to the end of the surgical instrument by measuring reaction force at the part supporting the trocar. Relation between the force to the trocar and the interaction force is derived using the beam theory. The vertical interaction force is modeled as a function of the reaction force to the trocar and the distance between the drape plate and the trocar. Experimental results show that error is induced by the asymmetric shape of the trocar tip because contact position between the instrument and the trocar tip is changed depending on the direction of the interaction force. The theoretical relation, therefore, is compensated and reduced. Average $L_2$ relative error of the estimated force in the x-direction and the y-direction is 5.81 % and 5.99 %, respectively.

• 제어로봇시스템학회논문지
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• 제22권8호
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• pp.579-584
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• 2016

When surgical instruments are tracked in an image-guided surgical navigation system, a stereo vision system with high accuracy is generally used, which is called optical tracker. However, this optical tracker has the disadvantage that a line-of-sight between the tracker and surgical instrument must be maintained. Therefore, to complement the disadvantage of optical tracking systems, an internal vision sensor is attached to a surgical instrument in this paper. Monitoring the target marker pattern attached on patient with this vision sensor, this surgical instrument is possible to be tracked even when the line-of-sight of the optical tracker is occluded. To verify the system's effectiveness, a series of basic experiments is carried out. Lastly, an integration experiment is conducted. The experimental results show that rotational error is bounded to max $1.32^{\circ}$ and mean $0.35^{\circ}$, and translation error is in max 1.72mm and mean 0.58mm. Finally, it is confirmed that the proposed tool tracking method using an internal vision sensor is useful and effective to overcome the occlusion problem of the optical tracker.

• 로봇학회논문지
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• 제9권1호
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• pp.48-56
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• 2014

In robotic surgery, a surgeon checks only a surgical site of patient in the progress of surgery by vision and sound information. In order to solve this limited information, the haptic function is necessary. And haptic surgical robot is also necessary to design a haptic master device. The master device for laparoscope operation with cable-conduit was developed in previous research to give haptic function. It suggested a possibility of developing a master device by using the cable-conduit. However, it is very inconvenient to use. Therefore, this paper suggests a new mechanism design structure to solve the problems of the previous work by new forming a new master device. And it has proved that it's usability is better than previous one. Furthermore it has also experimented and analyzed that a backlash of new master device is compensated by smooth backlash inverse algorithm.

• 로봇학회논문지
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• 제15권4호
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• pp.309-315
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• 2020

This study shows a control strategy that acquires both precision and manipulation sensitivity of remote center motion with manual traction for a surgical assistant robot. Remote center motion is an essential function of a laparoscopic surgical robot. The robot has to keep the position of the insertion port in a three-dimensional space, and general laparoscopic surgery needs 4-DoF (degree-of-freedom) motions such as pan, tilt, spin, and forward/backward. The proposed robot consists of a 6-axis collaborative robot and a 2-DoF end-effector. A 6-axis collaborative robot performs the cone-shaped trajectory with pan and tilt motion of an end-effector maintaining the position of remote center. An end-effector deals with the remaining 2-DoF movement. The most intuitive way a surgeon manipulates a robot is through direct teaching. Since the accuracy of maintaining the remote center position is important, direct teaching is implemented based on position control in this study. A force/torque sensor which is attached to between robot and end-effector estimates the surgeon's intention and generates the command of motion. The predefined remote center position and the pan and tilt angles generated from direct teaching are input as a command for position control. The command generation algorithm determines the direct teaching sensitivity. Required torque for direct teaching and accuracy of remote center motion are analyzed by experiments of panning and tilting motion.

• 감성과학
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• 제8권1호
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• pp.17-28
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• 2005

컴퓨터 기반 기술이 제품에 응용되어 제품의 본질이 변해감에 따라 제품의 외관보다는 제품을 쉽고 효과적으로 사용할 수 있게 하는 사용성이 제품 성공의 매우 중요한 요인이 되었다. 하지만 지금까지의 사용성에 대한 개념이나 연구들은 주로 사용자의 수행도로 직결되는 객관적인 측면만이 강조되었다. 이제 사용자들은 제품의 기능 수행도 측면뿐만 아니라 제품을 사용하면서 느끼는 감성적인 만족까지 가져다주기를 원하고 있다. 지금까지 인간의 감성에 대한 연구는 감성공학분야에서 많이 진행되었지만 기존의 감성공학관련 연구들을 살펴보면 대부분 제품의 외관과 인간의 감성에 관련된 것이 많다. 하지만 제품을 사용하면서 표출되는 인간의 감성에 관련된 연구는 아직 많이 이루어지고 있지 않는 실정이다. 이에 본 연구에서는 사용자들이 제품을 사용하면서 느끼는 감성의 변화를 조사하여 제품의 사용성이 인간의 감성에 어떤 영향을 미치는지에 대하여 밝혀 보고자 한다. 금번 연구에서는 모바일 폰을 대상으로 제품의 사용성과 인간의 감성연구를 위한 conceptual framework을 제시하였다. 또한 제품의 외관에서 느끼는 인간의 감성이 아니라 제품을 사용하는 도중에 표출되는 감성을 파악하기 위한 감성어휘를 추출하였다. 감성어휘는 다양한 문헌연구를 통한 기존의 감성어휘 조사, 웹사이트에서 사용자들이 남긴 제품 사용후기를 통한 수집 , 소리내어 생각하기(link aloud)를 활용한 실험을 통한 수집 등의 방법을 이용하여 추출한 후 웹 서베이를 통해 적합성을 검증하였다. 본 연구를 통해 추출된 감성어휘는 제품을 사용하면서 표출되는 인간의 감성 측정자료로 활용할 수 있고, conceptual framework은 사용자의 감성을 고려한 인터페이스 개발을 위한 기본 골격을 제공할 수 있으리라 기대한다.많은 심장외과 의사들이 로봇을 이용하여 작은 창상을 통해 최소 침습적 심장수술이 가능하리라 본다. 수술로봇을 이용한 심장수술의 이점을 분석하기 위해서는 잘 계획된 연구와 긴밀한 장기간의 관찰이 필요할 것으로 판단된다.하다고 생각된다.X>$2.46\pm0.56$개의 동맥을 획득하여, 좌전하행지 329곳, 대각지 123곳, 변연둔각지 285곳, 그리고 우관상동맥 191곳 등 총 928곳에 문합하여, 환자당 평균 $2.86\pm0.78$개의 문합률을 보였다. 수술 후 사망은 1예($0.3\%$)였다. 수술 후 뇌경색은 없었으며 주요 합병증으로는 종격동염 6예($1.8\%$), 신부전증 4예($1.2\%$), 심근경색이 3예($0.9\%$), 그리고 출혈로 인한 재수술이 3예($0.9\%$) 있었다. 총 혈관 개존율은 $99.3\%$ (581/585)였고, 좌내흉동맥, 요골동맥, 우내흉동맥 및 우위대망동맥의 개존율은 각각 $100\%$(207/207), $99.2\%$(238/240), $98.5\%$(133/135) 및 $100\%$ (313)였다. 각각 두 개의 요골동맥과 우내흉동맥에서 부분협착이나 경쟁혈류가 관찰되었다. 결론: 동맥 도관만을 이용한 Off pump CABG를 시행하여 감염의 위험성을 증가시키지 않으면서 영구적인 신경학적 합병증을 일으키지 않았고 좋은 혈관 개존율을 보여주었다. 따라서 동맥 도관을 이용한 Off pump CABG는 관상동맥의 협착의 정도에 따라 효율적으로 시행 시 좋은 임상결과를 얻을 수 있을 것으로 생각된다.였다.

• 대한디지털의료영상학회논문지
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• 제11권1호
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• pp.43-50
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• 2009

Geometry calculation Using Abdominal internal organ image from traditional laparoscopy or robotic surgery system we can make depth informations through measured 3D structure informations is very helpful to doctors, depth information is mare useful then others that use traditional laparoscopy or robotic surgery system to many doctors. however, traditional method are incomplete. less experienced doctors make much mare prohability of mistake. Hence, 3D information of organ is very helpful to the less experienced doctors. it will be greate role of reducing medical accidents and surgical time. We can get 3D informations using geometrical calculation method in robotic surgical system. also suggested method is needed in traditional surgical method without the need to create a new system, finally, We can get 3D information from traditional system without any new system, it take advantage in cost and create high efficiency. mare information will provided to many doctors.

• 대한의용생체공학회:의공학회지
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• 제28권3호
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• pp.363-368
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• 2007

Most surgery illumination systems have been developed as passive systems. However, sometimes it is inconvenient to relocate the position of the illumination system whenever the surgeon changes his pose. To cope with such a problem, this study develops an auto-illumination system that is autonomously tracking the surgeon's movement. A 5-DOF serial type manipulator system that can control (X, Y, Z, Yaw, Pitch) position and secure enough workspace is developed. Using 3 ultrasonic sensors, the surgeon's position and orientation could be located. The measured data aresent to the main control system so that the robot can be auto-tracking the target. Finally, performance of the developed auto-illuminating system was verified through a preliminary experiment in the operating room environment.

• 대한기관식도과학회지
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• 제17권2호
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• pp.89-91
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• 2011

Robotic surgery have been increasingly applied in the past several years to assist in a variety of operations. Some applications, such as in prostatectomy, have been widely adopted and have largely supplanted the alternative minimally invasive or open techniques. However, the use of surgical robots in esophagectomy has not been as common. Although a limited number of case reports demonstrated the feasibility of robotic esophagectomy, no large series of patients has been reported to date. The data on robotic-assisted esophagectomy suggest that the procedure is safe, feasible, and associated with perioperative outcomes similar to open and minimally invasive esophagectomy. Benefits of robotic system could be maximized when we do a extensive total mediastinal lymphadenectomy. For this procedure to gain widespread acceptance, identifiable benefit relative should be demonstrated in near future.