• Journal of Korean Neurosurgical Society
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• 제46권6호
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• pp.577-580
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• 2009

A 47-year-old man presented with a subarachnoid hemorrhage (SAH) and right cerebellar hematoma was referred for evaluation. Cerebral angiography revealed a distal anterior inferior cerebellar artery (AICA) aneurysm associated with an arteriovenous malformation (AVM). Successful obliteration and complete removal of the aneurysm and AVM were obtained using transcortical approach under the guidance of neuronavigation system. The association of a peripheral AICA aneurysm and a cerebellar AVM by the same artery is unique. The reported cases of conventional surgery for this disease complex are not common and their results are variable. Less invasive surgery using image-guided neuronavigation system would be helpful and feasible for a peripheral aneurysm combining an AVM of the posterior fossa in selective cases

• 한국의학물리학회지:의학물리
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• 제13권4호
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• pp.218-223
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• 2002

두개외 병소 즉, 척추 등에 발생한 종양 혹은 혈관기형 등의 병소에 대해 침습적 수술이 불가한 경우 정위적 방사선 수술이 임상에서 시도되고 있다. 본 연구는 실험적으로 팬텀에 대해 척추 정위 방사선수술을 시행하고 결과 분석을 통하여 두개외 수술 목표점에 대한 방사선수술 위치 정확도를 평가하고자 한다. 이 실험을 위하여 팬텀을 특별히 고안하였으며 수술실에서 방사선 수술 목표점의 위치는 광학적 추적 장치를 이용하여 결정하였고 3 mm 미세다엽시준기(mMLC; mcro Multi-Leaf Collimator)를 사용하여 시술하였다. 팬텀의 목표점에 대한 방사선수술 오차는 $\pm$1 mm 이내였으며 분할방사선 수술 경우도 $\pm$1 mm 이내였다. 결과적으로 광학적 위치추적 장치를 이용한 두개외 목표점의 방사선 수술은 매우 정확하고 유용한 방법으로 판단된다.

• Journal of Mechanical Science and Technology
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• 제15권8호
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• pp.1097-1107
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• 2001

In this paper, the wall following navigation algorithm of the mobile robot using a mono vision system is described. The key points of the mobile robot navigation system are effective acquisition of the environmental information and fast recognition of the robot position. Also, from this information, the mobile robot should be appropriately controlled to follow a desired path. For the recognition of the relative position and orientation of the robot to the wall, the features of the corridor structure are extracted using the mono vision system, then the relative position, the offset distance and steering angle of the robot from the wall, is derived for a simple corridor geometry. For the alleviation of the computation burden of the image processing, the Kalman filter is used to reduce search region in the image space for line detection. Next, the robot is controlled by this information to follow the desired path. The wall following control scheme by the PD control scheme is composed of two control parts, the approaching control and the orientation control, and each control is performed by steering and forward-driving motion of the robot. To verify the effectiveness of the proposed algorithm, the real time navigation experiments are performed. Through the result of the experiments, the effectiveness and flexibility of the suggested algorithm are verified in comparison with a pure encoder-guided mobile robot navigation system.

• Journal of Korean Neurosurgical Society
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• 제65권4호
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• pp.572-581
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• 2022

Objective : Compared to microscopes, exoscopes have advantages in field-depth, ergonomics, and educational value. Exoscopes are especially well-poised for adaptation into fluorescence-guided surgery (FGS) due to their excitation source, light path, and image processing capabilities. We evaluated the feasibility of near-infrared FGS using a 3-dimensional (3D), 4 K exoscope with near-infrared fluorescence imaging capability. We then compared it to the most sensitive, commercially-available near-infrared exoscope system (3D and 960 p). In-vitro and intraoperative comparisons were performed. Methods : Serial dilutions of indocyanine-green (1-2000 ㎍/mL) were imaged with the 3D, 4 K Olympus Orbeye (system 1) and the 3D, 960 p VisionSense Iridium (system 2). Near-infrared sensitivity was calculated using signal-to-background ratios (SBRs). In addition, three patients with brain tumors were administered indocyanine-green and imaged with system 1, with two also imaged with system 2 for comparison. Results : Systems 1 and 2 detected near-infrared fluorescence from indocyanine green concentrations of >250 ㎍/L and >31.3 ㎍/L, respectively. Intraoperatively, system 1 visualized strong near-infrared fluorescence from two, strongly gadolinium-enhancing meningiomas (SBR=2.4, 1.7). The high-resolution, bright images were sufficient for the surgeon to appreciate the underlying anatomy in the near-infrared mode. However, system 1 was not able to visualize fluorescence from a weakly-enhancing intraparenchymal metastasis. In contrast, system 2 successfully visualized both the meningioma and the metastasis but lacked high resolution stereopsis. Conclusion : Three-dimensional exoscope systems provide an alternative visualization platform for both standard microsurgery and near-infrared fluorescent guided surgery. However, when tumor fluorescence is weak (i.e., low fluorophore uptake, deep tumors), highly sensitive near-infrared visualization systems may be required.

• 한국정보기술응용학회:학술대회논문집
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• 한국정보기술응용학회 2005년도 6th 2005 International Conference on Computers, Communications and System
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• pp.91-97
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• 2005

Bones are dynamic structures, being supported by muscles, tendons, and ligaments. When some or all the structures are disturbed i.e. in fractures, the alignment of the bone in respect to the rest of the body is deranged. This gives rise to axial as well as rotational deformity in three dimensional planes. The correct alignment and position of the long bones are to be maintained to heal the bone in the best possible anatomical and functional position. The objective of this research is to address the problems in the current practice involving surgeon, assistant, fluoroscopy and crude mechanical means and to see if a robotic solution exists to solve the problems of manipulating and reducing long bone fractures. This paper presents various design aspects of the proposed surgeon-instructed, image-guided and robotic system including the system design specification, robot design and analysis, motion control and implementation, and x-ray image processing and incorporation in CAD environment.

• Journal of Periodontal and Implant Science
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• 제26권3호
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• pp.771-778
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• 1996

The assessment of alveolar bone changes on dental radiographs to indicate progression of periodontal diseases or healing response to therapy is routine procedure. However, the diagnostic accuracy in detecting small alveolar bone changes is very limited. Recently, guided bone regeneration therapy is popular, but the quantification of new bone is somewhat difficult with conventional evaluation method. To quantificate the amount of new bone, various evaluating methods have been introduced including histomorphometry, radiomorphometry, biochemical analysis, X-ray probe microanalysis, scanning electron microscope backscatter method. In this study, guided bone regeneration using resorbable membrane with & without PDGF-BB is quatificated through histomorphmetry to evaluate the efficacy of histomorphometric analysis. 4 beagle dogs and 8 Sprague-Dawley rats were selected as experimental animals. In beagle dog experiment, $4{\times}4mm$ Class II defects were created in maxillary both second premolars, and biodegradable membrane containing PDGF-BB(experimental group) were covered over one defect, and same membrane without PDGF-BB(control group) were covered over the other defect. At 2 weeks, 5 weeks after surgery, each beagle dogs were sacrificed, and the tissues were treated by undecalcified fixation. In Sprague-Dawley rat experiment, 5mm round defect were created in temporal bone, the same membranes were covered on the defects. At 1 week, 2 weeks after surgery, each rats were sacrificed, and undecalcified fixation were taken. After grinding tissue specimen, we analyse them histomorphometrically using image analysis system. In beagle dog 2 weeks specimens, new bone formation area were $0.03123mm^2$ in experimental group,and $0.03012mm^2$ in control group. At 5 weeks specimens, $0.15324mm^2$ in experimental group, and $0.09123mm^2$ in control group. In Sprague-Dawley rat specimens, new bone fomation area were $0.20448mm^2$ in 1 week experimental group, $0.03604mm^2$ in 1 week control group. At 2 weeks specimens, $0.46349mm^2$ in experimental group, $0.17741mm^2$ in control group. The results indicated that histomorphometric analysis of new bone formation using image analysis system is very effective quantification method to evaluate the efficacy of treatment modalities.

• 디지털융복합연구
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• 제11권10호
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• pp.577-584
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• 2013

토모테라피의 영상유도방사선치료는 환자의 자세재현성을 증가시켜 방사선치료의 정확성을 향상 시킬 수 있으나 그 정확성이 검증되어야 하며, MVCT 촬영에 의한 환자피폭이 발생할 수 있다. 본 연구에서 토모테라피의 영상유도 정확성은 1.0mm 이내로 매우 양호하게 측정되었으며, 선량은 각각 Fine(2mm) 3cGy, Normal(4mm) 1.5cGy, Corse(6mm) 1cGy로, 해상력은 Normal에서 비교적 양호하게 나타났다. 따라서 환자 피폭을 줄이기 위해서 Fine 보다 Normal을 선택하고 MVCT 촬영범위를 최소화하여 실시하는 것이 바람직하다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.185-186
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• 2006

Image Guided Surgery(IGS) system has been developed to provide exquisite and objective information to surgeons for surgical operation process. It is necessary that registration technique is important to match between 3D image model reconstructed from image modalities and the object operated by surgeon. Majority techniques of registration in IGS system have been used by recognizing fiducial markers placed on the object. However, this method has been criticized due to its invasive protocol inserting fiducial markers in patient's bone. Therefore, shape-based registration technique using geometric characteristics of the object has been invested to improve the limitation of IGS system. During Total Knee Replacement(TKR) operation, it is challenge to register with high accuracy by using shape-based registration because the area to acquire sample data from knee is limited. We have developed region-based 3D registration technique based on anatomical landmarks on the object and this registration algorithm was evaluated in femur model. It was found that region-based algorithm can improve the accuracy in 3D registration. We expect that this technique can efficiently improve the IGS system.

• 한국항공우주학회지
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• 제45권7호
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• pp.600-609
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• 2017

탐색기의 센서 영상을 이용하여 최종 표적에 대한 선정을 수동 또는 자동으로 할 수 있는 표적 관리 모의 시스템을 개발하였다. 모의 시스템은 비행체 시스템과 지상 시스템으로 구성하였다. 비행체 시스템은 비행체의 운동역학과 센서 영상을 모의하고 지상 시스템은 표적 템플릿 모의와 지상 제어기를 모의를 수행한다. 비행체의 운동역학은 의사 6자유도를 기반으로 비례항법유도기법을 사용한다. 탐색기의 센서 영상은 알려진 적외선 영상 렌더링 기법을 이용하여 직접 개발하였으며 상용 프로그램과 비교하여 검증하였다. 지상제어기는 사용자 편의를 위해 임무에 관련된 정보를 가능한 많이 전시할 수 있는 사용자 인터페이스로 구성하였다. 최종적으로 표적 격추 임무 모의를 통해 요구하는 성능에 만족함을 확인하였다.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 춘계학술대회논문집 - 한국공작기계학회
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• pp.543-548
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• 2000

In this study, an interactive programming method for robot in electronic part assembly task is proposed. Many of industrial robots are still taught and programmed by a teach pendant. The robot is guided by a human operator to the desired application locations. These motions are recorded and are later edited, within the robotic language using in the robot controller, and play back repetitively to perform robot task. This conventional teaching method is time-consuming and somewhat dangerous. In the proposed method, the operator teaches the desired locations on the image acquired through CCD camera mounted on the robot hand. The robotic language program is automatically generated and downloaded to the robot controller. This teaching process is implemented through an off-line programming software. The OLP is developed for an robotic assembly system used in this study. In order to transform the location on image coordinates into robot coordinates, a calibration process is established. The proposed teaching method is implemented and evaluated on an assembly system for soldering electronic parts on a circuit board. A six-axis articulated robot executes assembly task according to the off-line teaching in the system.