• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.854-857
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• 2001

At present, colonoscopy is performed by means of quite long and flexible endoscopes and controlled manually. Although the flexibility of the distal tip allows the endoscope to follow the tortuous path of the colon, the insertion of the endoscope requires the endoscopist to exert forces on and to perform rotations of the proximal end; these actions cause discomfort to the patient. Though self-propelling colonoscopic systems has been suggested to overcome these problems, it is difficult to pass through highly curved regions of the intestine. In this paper, we introduce a steering mechanism for a self-propelling coloinlscope, the smart capsule, which has three actuator units. The mechanism is designed not only to move forward and backward but also to pass through the curved regions. We derived the governing equations of this mechanism. Active movements and motion control are developed.

• Clinical Endoscopy
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• v.51 no.6
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• pp.591-595
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• 2018

Intussusception after colonoscopy is an unusual complication. A MEDLINE search revealed only 7 reported cases. We present a report of a 28-year-old man who developed abdominal pain several hours after routine colonoscopy and in whom computed tomography (CT) revealed colocolic intussusception. We postulate that this condition is iatrogenic and induced by suctioning of gas on withdrawal of the colonoscope. A common observation among the reported cases was abdominal pain several hours after colonoscopy and right-sided intussusception. All cases had colonoscopy reaching the right side of the colon. Treatment for adult intussusception remains controversial with regard to reduction versus resection, especially given the high association with a pathological cause and malignancy. Among the 8 reported cases, only the current case did not require surgery. A combination of benign colonoscopy, CT, and the clinical picture should provide sufficient information to initially choose a more conservative treatment approach.

• International Journal of Advanced Culture Technology
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• v.10 no.1
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• pp.108-115
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• 2022

The purpose of this study is to investigate the actual status of antithrombotic management before and after the procedure or surgery, the difference between the duration of medication suspension by clinical and demographic characteristics, and the patient's understanding and satisfaction after medication management by a dedicated nurse. The results were as follows. The most commonly used antithrombotic agents were aspirin and flavitol. The drug discontinuation period according to antithrombotic, procedures, and underlying diseases, there was a significant difference in duration for each variables(p<.000). In the case of antiplatelet drugs, 5-day suspension was the most frequent, and anticoagulants 2-day suspension was the most frequent. Depending on the procedure,colonoscope,nucleoplasty,rotator cuff repair,and total knee arthroplasty commonly showed more than 80% of 5-day discontinuation. The differences according to underlying diseases are as follows. 64.7% of all diseases discontinued on the 5th. The patient's understanding of the nurse's medication management performed before and after the procedure was found to be lower in Angina patients than those with other diseases. In terms of age, those in their 50s showed higher understanding than other age groups. There were no differences in understanding and satisfaction with the remaining characteristics.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.2
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• pp.299-306
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• 2016

In this paper, a method of shape prediction of an endoscope handling robot that can imitate a surgeon's behavior using a sensor network is suggested. Unit sensors, which are composed of a 3-axis magnetometer and 3-axis accelerometer pair comprise the network through CAN bus communication. Each unit of the sensor is used to detect the angle of the points in the longitudinal direction of the robot, which is made from a flexible tube. The signals received from the sensor network were filtered using a low pass Butterworth filter. Here, a Butterworth filter was designed for noise removal. Finally, the Euler angles were extracted from the signals, in which the noise was filtered by the low path Butterworth filter. Using this Euler angle, the position of each sensor on the sensor network is estimated. The robot body was assumed to consist of links and joints. The position of each sensor can be assumed to be attached to the center of each link. The position of each link was determined using the Euler angle and kinematics equation. The interpolation was carried out between the positions of the sensors to be able to connect each point smoothly and obtain the final posture of the endoscope in operation. The experimental results showed that the shape of the colonoscope can be visualized using the Euler angles evaluated from the sensor network suggested and the shape of serial link estimated from the kinematics chain model.

• Journal of Digestive Cancer Research
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• v.6 no.2
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• pp.69-72
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• 2018

Mucinous adenocarcinoma occurs in 1.6-25.4% of patients with colorectal cancer. We report a case of a 27-year-old man with negative findings on initial colonoscopic biopsy, but finally diagnosed with mucinous adenocarcinoma of the colon. After undergoing an abdominal CT due to persistent abdominal pain, he was transferred to our hospital. The abdominal CT showed a diffuse and irregular wall thickening in the distal transverse colon. Due to the edema and stenosis of colonic wall, it was difficult to insert the colonoscope into the proximal region; a biopsy revealed chronic colitis with lymphofollicular hyperplasia. Transverse colectomy and lymph node dissection were performed. The diagnosis was mucinous adenocarcinoma of approximately 20×4.5 cm. Compared to adenocarcinoma, mucinous adenocarcinoma is found in a younger population with an advanced stage and is less responsive to palliative chemotherapy. Therefore, recalcitrant abdominal pain even in young people warrants early detection through appropriate examinations such as abdominal CT and colonoscopy.