• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.456-458
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• 2004

Recent medical robot systems perform surgery operations, by following the preplanned trajectory and surgical procedures. Depending on the complexity of surgery operations, they are operated in manual, semi-automatic or full automatic mode. To improve the performance of those medical robot systems, development of the simulator and more advanced auto-illumination system, in which intensity of light, direction and focal point can be controlled automatically according to the varied environments during surgical operations. are required. Therefore, in this paper, the simulator for SPINEBOT system which is a computer-intergrated robotic surgery system are developed. And further, an auto-illumination system which will be integrated to the SPINEBOT system is investigated and its preliminary design is described.

• Journal of Chest Surgery
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• v.40 no.12
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• pp.825-830
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• 2007

Background: Minimally invasive cardiac surgery appears to offer certain advantages such as earlier postoperative recovery and a greater cosmetic effect than that achieved through conventional sternotomy. However, this approach has not yet been widely adopted in Korea to replace complex open heart surgery such as mitral valve reconstruction. This study compared the results of robot assisted minimally invasive mitral valve repair with those results of conventional sternotomy. Material and Method: From December 1993 to December 2005, 520 consecutive patients underwent mitral valve reconstruction for mitral regurgitation in our institution. These patients were subdivided according to those whose surgery used the conventional sternotomy approach (Group S, n=432) and those who underwent minimally invasive right anterior thoracotomy (Group M, n=88); we then compared the clinical results of both groups. When we performed minimally invasive right thoracotomy, we used a robot (AESOP 3000) and made an incision less than 5 cm. Result: Our study patients in both groups were similar for their age, gender and preoperative ejection fraction. There were two hospital mortalities in group S. but there was no mortality in the group M patients. Significant reductions in the ICU stay and the postoperative hospital stay were observed in the group M patients compared with the group S patients. However, both the bypass time and the aortic cross-clamp time were significantly longer in the group M patients. In spite of the confined incision in the group M patients, there were no limitations on the mitral valve repair techniques. There was a similar frequency of postoperative significant residual mitral regurgitation in both groups. Conclusion: In this study, the minimally invasive mitral valve repair showed comparable early results with the conventional sternotomy patients. We will now need long-term follow-up of these patients who underwent minimally invasive mitral valve repair, but we anticipate that based on the results of this study, we will begin to routinely perform minimally invasive cardiac surgery as out primary approach for mitral valve reconstruction.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.298-298
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• 2000

This paper presents the optimization technique to analyze the effect of the design parameters of rapid prototyping system for human brain model fabrication. The optimization method considers the functional relationships among the design parameters such as thickness gap, shrink rate, and laser speed that govern the operation of fabrication system. This paper applies a discrete optimization technique as the optimization method to determine the dominant parameter values. Additional study includes manner of complement surface image of ellipse which approximates the brain model using the adaptive slicing and the offset contour. According to the parameters tuning and interaction of effect, more suitable parameter values can be obtained by enhanced 3D brain model fabrication.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.9
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• pp.918-925
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• 2006

Medical robotics and computer aided surgery in general, and robotic telesurgery in particular, are promising applications of robotics. In this paper, we shows a novel single-master (PHANTOM based single-master multi-slave telerobotic system) multi-slave system using two parallel mechanism micromanipulators as a slave device. After a general introduction to the systems structure and configuration of telerobotic system, a manipulation control strategy to build the system that human and both manipulators perform the cooperative manipulation, is introduced, followed by its kinematic analysis, mapping method, and experimental results.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.139-143
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• 2005

As increasing gastrointestinal pathologies, general and thoracic surgeries using circular staplers have been dramatically increased. Because of convenience for surgical procedure, recently, various circular staplers for anastomosis have been used widely. Since the circular staplers conventional have used the displacement control method, however, the anastomosis could have various biomechanical conditions. To do that, biomechanical system of gastrointestinal soft tissue should be examined to control the anastomotic condition. In this study, a new intelligent robot used in circular anastomosis. The intelligent robot driven by a stepper motor and controlled by a digital signal processor.

• Proceedings of the Korea Information Processing Society Conference
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• 2015.10a
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• pp.1763-1764
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• 2015

사이버나이프 시스템은 독특한 형태의 정위적 방사선 치료를 수행하는 로봇 팔을 이용하는 방사선 수술 시스템으로 치료 중 환자의 호흡 등에 따른 신체의 움직임에도 1mm 이내의 오차 범위에서 정확하게 방사선을 조사해야하며, 여러 병소를 동시에 치료할 수 있다. 사이버나이프 시스템은 로봇 팔, 선형 가속기, 병소 위치 추적 장치, 방사선 조사 스케줄러와 같은 다양한 모듈들이 통합된 시스템으로, 이를 통합 제어하기 위한 주제어 시스템이 필요하다. 본 논문에서는 본 연구원에서 개발하고자 하는 사이버나이프 주제어 시스템의 설계에 관하여 기술한다.

• The Journal of Korea Robotics Society
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• v.14 no.3
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• pp.203-210
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• 2019

This paper proposes a hand-controller mechanism for manually controlled endoscopic surgical instruments. A wire-driven mechanism is typically adapted for endoscopic surgical tools because motors cannot be embedded to the joints due to the size limitation. The wire-driven mechanism requires length control of wires that are pulled and released according to the desired joint angle. It is difficult for the operator to control individual wire lengths intuitively. The hand-controller mechanism should be able to control the wires easily without complex processes. For this purpose, we propose a mechanism that can control the wire lengths with a simple mechanical structure and its optimal design method using genetic algorithm. We show the simulation and experimental results to confirm the proposed mechanism and design methods are useful for the manually controlled endoscopic surgical instrument.

• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.164-171
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• 2021

This paper proposes a continuum mechanism for manually controlled endoscopic surgical instruments. The wire-driven mechanism is typically adapted for endoscopic surgical tools because motors cannot be embedded to the joints due to the size limitation. However, the conventional wire-driven mechanism has inherent problems caused by redundancy, such as deflection and low precision. It does not have operating force and manipulability for surgery. Therefore, a method to increase the force of the continuum mechanism using a multi-wire with simple mechanical structure is proposed. Moreover, for intuitive operation, a hand-controller mechanism that can manipulate the length of the wire without complex process is proposed. Finally, we show that the proposed mechanism and methods are applicable to endoscopic surgical tools through simple experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.9
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• pp.788-794
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• 2002

To improve surgical result of total hip arthroplasty (THA), there has been some approaches using a robotic milling system, which can make a precise cavity in the femur. Usually, to carve a femur, the surgical robot is controlled by a pre-programmed tool-path regardless of a surgeon's experience and Judgment. This paper presents a control method of a surgical robot for THA, which can be used as an advanced surgical tool. With a master/slave combined surgical robot, surgeon can directly control the motion and velocity of a surgical robot. The master/slave-combined robot is controlled to display a specific admittance for a surgeon's force to the surgical robot velocity. To prevent the over-carving of a femur, virtual hard wall is displayed on the surgical boundary. To evaluate the proposed control method of the master/slave-combined surgical robot, 2-DOF master/slave-combined manipulator is used in experiment.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.9
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• pp.840-845
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• 2010

This paper proposes the method indirectly measuring the operating force of the end-effect tip of surgical robot instrument which conducts the surgical operation in the body on behalf of the surgeon's hand. Due to the size and safety obligation to the surgical robot instrument, it is difficult to measure the operation force of its tip like grasping force. However the instrument is driven by cable-pulley torque transmission mechanism and when some force is occurred at the tip, then the reaction force appears on the cable as additional tension. Based on this phenomenon, this paper proposes a method to estimate the operating force from measuring reaction force against the driving motor by using a loadcell. And it induces mathematical equation to calculate the force from loadcell by approaching the modulus of elasticity to high order polynomial. And this paper proves the validity of proposed mechanism by experimental test.