• Proceedings of the KSME Conference
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• 2004.11a
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• pp.823-828
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• 2004

Minimally Invasive Surgery (MIS) is surgery of the chest, abdomen, spine and pelvis, done with the aid of a viewing scope, and specially designed instruments. Benefits of minimally invasive surgery are less pain, less need for post-surgical pain medication, less scarring and less likelihood for incisional complications. Since the late 1980's, minimally invasive surgery has gained widespread acceptance because of the such advantages. However there are significant disadvantages which have, to date, limited the applications for these promising techniques. The reasons are limited degree-of-freedom, reduced dexterity and the lack of tactile feeling. To overcome such disadvantages many researchers have endeavored to develop robotic systems. Even though some robot aided systems achieved success and commercialized, there still remain many thing to be improved. In this paper, the robotic system which can mimic whole motions of a human arm by adding additional DOF is presented. The suggested design is expected to provide surgeons with improved dexterity during minimally invasive surgery.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1797-1798
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• 2008

환자의 환부를 최소한으로 절개하여 시술하는 최소 침습 수술 수술은 많은 장점을 가지고 있어 그 활용도가 점차 확대되고 있다. 하지만 조작하는 조직으로부터 눈과 손이 분리되어 있기 때문에 많은 문제점들이 발생한다. 그 중 하나는 수술 영역과 시각 영역이 분리되어 발생하는데, 최적의 위치조정을 위한 자동 복강경 수술 로봇 팔 시스템 도입으로 이러한 문제를 해결하고 있다. 본 연구에서는 복강경 수술 로봇 팔을 설계하는데 있어 동작 범위를 빠르게 시각화하여 설계 단계에서 다양한 파리미터를 적용하여 보다 효율적인 복강경 수술 로봇 팔의 설계 방법을 제시한다. 제안된 물리 엔진을 이용한 동작 범위 분석 방법은 역기구학을 계산할 필요가 없으며, 설계가 바뀌어도 추가로 산출해야 하는 수식 없이 바로 수정된 기구학만으로 동작 범위 분석이 가능하다.

• Journal of the Korean Arthroscopy Society
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• v.13 no.1
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• pp.46-52
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• 2009

Purpose: To evaluate the usefulness of minimally invasive arthroscopy-assisted plate removal of a laterally inserted periarticular distal femur plate used for the treatment of AO type-C distal femur fractures. Materials and Methods: From October 2002 to November 2005, we evaluated 17 patients whose plates were removed through minimally invasive arthroscopy-assisted plate-removal technique and 15 patients who got their plates removed through conventional method without using arthroscopy, 32 patients in total. All these patients included in this study initially underwent open reduction and internal fixation of the distal femoral fractures with a lateral plate, and complained of continued pain over the lateral femoral condyle after the fracture fixation. The average age was 42.6 (ranges: 20~66) and initial fracture types included 16 cases of C1, 11 cases of C2, and 5 cases of C3 following AO/ASIF classification guidelines. Measured outcomes included: associated intra-articular pathologies, time needed to return to activities of daily living, patients' overall satisfaction, complications following the removal of hardware, and pain before and 6 months after the operation. Results: The distal-most end of the plate was placed in the knee joint in all cases and damage of the lateral articular capsule was found in 23 cases. Continuous wound discharge after surgery was found in one case who underwent arthroscopy-assisted plate removal, and it was treated by irrigation and re-suture. Average time needed to return to activities of daily living was 7 days in arthroscopy assisted group and 7.6 days in conventionally removed group. Fourteen patients (82.4%) who underwent arthroscopyassisted plate-removal reported above 'fair' satisfaction and the Visual analog scale pain score decreased from 4.9 to 1.9, six months after the plate removal. Thirteen patients(86.7%) who underwent conventional plate removal reported above 'fair' satisfaction and the Visual analog scale pain score decreased from 5.2 to 2.5, six months after the operation. Conclusion: Through minimally invasive arthroscopic-assisted plate removal, intrarticular pathology of the knee joint was able to be simultaneously identified and treated at the time of hardware removal. Damage of lateral capsule of the knee joint caused by the inserted plate for the treatment of type C distal femoral fracture was very frequently found and following the plate removal, patients experienced an improvement in pain score. We therefore recommend routine lateral distal femoral plate removal if the bony union is attained in such cases as type C distal femoral fractures whose distal most end of the plates are located in the joint.

• Clinics in Shoulder and Elbow
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• v.14 no.1
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• pp.73-79
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• 2011

Purpose: To evaluate of the clinical usefulness of minimal invasive ulnohumeral arthroplasty in patients with mild to moderate elbow arthritis. Materials and Methods: From January 2000 to December 2008, twenty-nine patients with mild to moderate elbow arthritis underwent minimal invasive ulnohumeral arthroplasty. Among these patients, we reviewed the cases of 24 patients for whom we had follow-up data for at least 1 year. There were 20 males and 4 females with a mean age of 53 years (range: 31~69). We excluded patients with preoperative ulnar neuropathy symptoms and investigated the mean operation time, the joint range of motion, the time required until the start of joint exercise, and the Mayo elbow performance score (MEPS). Results: Passive and active joint exercises were started in an average of 1.8 days (range: 1~4) after surgery; the mean operation time was 38 minutes (range: 25~55). The elbow joint range of motion was 25-104 degrees (extension 0~70, flexion 80~130) preoperatively and was improved 40 degrees on average to 14-133 degrees (extension 0~45, flexion 90~150) after a year of follow up. The average time required until the start of joint exercise was 1.6 days (range: 1~5). MEPS were excellent in 9 cases and good in 5 cases after a year of follow up. Although there was 1 case of delayed wound healing and 7 cases of postoperative edema, they improved spontaneously. Conclusion: For patients with mild to moderate elbow arthritis, minimal invasive ulnohumeral arthroplasty is a clinically useful surgery since its operation time is short, early joint exercise is possible, and pain is mild.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.5
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• pp.497-503
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• 2014

Minimally invasive intramedullary nail insertion or plate osteosynthesis has shown good results for the treatment of long bone fractures. However, directly seeing the fracture site is impossible; surgeons can only confirm bone fragments through a fluoroscopic imaging system. The narrow field of view of the equipment causes malalignment of the fracture reduction, and radiation exposure to medical staff is inevitable. This paper suggests two methods to solve these problems: surgical navigation using 3D models reconstructed from computed tomography (CT) images to show the real positions of bone fragments and estimating the rotational angle of proximal bone fragments from 2D fluoroscopic images. The suggested methods were implemented using open-source code or software and evaluated using a model bone. The registration error was about 2 mm with surgical navigation, and the rotation estimation software could discern differences of $2.5^{\circ}$ within a range of $15^{\circ}$ through a comparison with the image of a normal bone.

• Journal of Chest Surgery
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• v.38 no.7 s.252
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• pp.507-509
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• 2005

Open heart surgery via right thoracotomy can be accomplished in atrial septal defects, and mitral valve diseases. Recently, thoracoscopic atrial septal defect closure, mitral valve repair, Maze operation, and minimal invasive direct coronary artery bypass (MIDCAB) are accomplished with AESOP 3000. However, there is no report of thoracoscopic aortic valve replacement in Korea. We report a successful thoracospic aortic valve replacement assisted with AESOP 3000 in a 31-year-old female patient.

• Journal of the korean academy of Pediatric Dentistry
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• v.43 no.1
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• pp.79-84
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• 2016

Myoepithelioma is a rare disease in the salivary gland. Myoepithelioma is more common in adults than in children or adolescents. An 8-years-old female patient visited our clinic with a chief complaint of a painless swelling on the palate. Conservative treatment that preserves the overlaying palatal mucosa while surgically excising the tumor was carried out under general anesthesia, because the patient was young and the size of the tumor was relatively large. The surgical wound healed well and there had not been any sign of recurrence during the regular follow-up period of 40 months. Minimally invasive surgical treatment which preserves peripheral palatal tissue can be useful in a pediatric myoepithelioma.

• Proceedings of the Optical Society of Korea Conference
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• 2003.07a
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• pp.250-251
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• 2003

광학기술의 의학적 응용은 1900년 루비레이저가 개발되고 이어서 다양한 레이저가 개발되면서부터다. 레이저를 이용하면서 최소침습적 수술이 가능해졌고, 내시경을 사용하여 체내 부분에 대한 시술도 가능해졌다. 최근에는 레이저, 발광다이오드, 램프 같은 광원을 소스로 하고 광검출기를 센서로 하는 광학 기술을 이용한 생리상태 측정에 대한 연구가 진행되고 있다.

• Journal of Chest Surgery
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• v.40 no.2 s.271
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• pp.128-131
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• 2007

da $Vinci^{TM}$ Surgical System is an advanced mode of minimal invasive surgery, using 3-dimensional imaging system and robotic arms which can mimic the dexterity of the human hand. Thus, various operations can be performed with minimal incision and limited surgical field and the merits of minimal invasive surgery can be maximized by using it. We report our first experience of robotic open heart surgery using the da $Vinci^{TM}$ Surgical System for repairing atrial septal defect.

• Journal of Chest Surgery
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• v.38 no.11 s.256
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• pp.733-738
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• 2005

Background: The possibility of incomplete revascularization and development of flow competition after revascularization of the borderline lesion made the hybrid strategy as an option for complete revascularization. Material and Method: From January f998 to July 2004, 25 $(3.2\%)$ patients underwent hybrid revascularization among 782 total OPCAB procedures. Clinical results and angiographic patencies were evalulated. Percutaneous coronary intervention (PCI) was peformed before CABG in 8 patients and after CABG in 47 patients. Result: The causes of PCIs before CABG were to achieve complete revascularization with minimally invasive surgery (n=7) and emergent PCI for culprit lesion (n=1). The indications of PCIs after CABG were high possibility of flow competition in the borderline lesion of right coronary artery territory (n=8), diffuse atheromatous lesion preventing anastomosis of graft (n=5), severe calcified ascending aorta with no more arterial grafi available (n=3), and intramyocardial coronary lesion (n=1). Mean number of distal anastomoses was $2.3\pm1.0$. Mean number of lesions treated by PCI was $1.2\pm0.4$. There was no operative or procedure-related mortality. PCI-related complication was periprocedural myocardial infarction in one patient, and complications related to CABG were transient atrial fibrillation (n=5), perioperative myocardial infarction (n=1), and transient renal dysfunction (n=1). Early postoperative coronary angiography $(1.8{pm}1.6days)$ revealed $100\%$ patency rate of grafts (57/57). The stenosis occurred in one patient performed PCI before CABG, which was successfully treated with re-ballooning. During midterm follow-up (mean; $25{\pm}26$ months), 1 patient died of congestive heart failure. All survivors (n=24) accomplished follow-up coronary angiographics, which showed .all grafts (56/57) were patent except one string sign. In-stent restenosis was developed in 2 patients who received bare metal stents. Conclusion: In selected patients, complete revascularization was achieved with low risk by taking the hybrid strategy.