• 대한기관식도과학회지
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• 제16권1호
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• pp.11-15
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• 2010

Minimally invasive surgery (MIS) has several advantages over conventional open surgery. Less pain, less morbidity, early recovery and better cosmetic outcomes are well-known benefits of MIS. However, indications of MIS are highly dependent on the experience of surgeon and the disease status, In the benign diseases with less surgical complexity, MIS can be performed relatively and safely. However. in advanced malignant diseases which require more complex surgical manipulation, the of patients and the principles of oncologic surgery should be considered before the selection of surgical methods, MIS would be performed more and more with aid or technologic advancement. However, long-term result with equivalent oncologic outcomes to open surgery is necessary to be one of standard surgical treatments in thoracic surgery.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 추계학술대회
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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.

• Journal of Veterinary Science
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• 제23권2호
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• pp.38.1-38.13
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• 2022

Background: Minimally invasive surgery (MIS) technique of sacroiliac luxation in toy breed dogs using cannulated screws has not been described. Objectives: The purpose of this study was to evaluate the effectiveness of pelvic canal recovery, the reproducibility of successful surgery outcomes, and the acceptable difficulty of the procedure in MIS of sacroiliac luxation in toy breed dogs. Methods: MIS using 2.3-mm cannulated screws was demonstrated in 12 toy breed dog cadavers with sacroiliac luxation artificially induced. Pre and postoperative radiographs were used to evaluate the pelvic canal diameter ratio (PCDR), hemipelvic canal width ratio (HCWR), and reduction rate. Dorsoventral angle (DVA) and craniocaudal angle (CCA) of the inserted screw were obtained postoperative computed tomographic scan. Results: The statistically significant difference between the mean pre and postoperative PCDR was found (1.10 ± 0.12 and 1.26 ± 0.11, respectively; p = 0.002), and the mean HCWR close to 1.0 meaning symmetric pelvis also was obtained (0.97 ± 0.07). The mean DVA and CCA were 2.26° ± 1.33° and 2.60° ± 1.86°, respectively. Conclusions: MIS of sacroiliac luxation using 2.3-mm cannulated screws is applicable to toy breed dogs with acceptable difficulty.

• 한국전자통신학회논문지
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• 제8권1호
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• pp.13-26
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• 2013

본 연구는 미래예측방법으로 많이 활용되고 있는 시나리오플래닝 방법론을 적용하여 한국에 있어, 최소침습수술용 의료로봇의 바람직한 미래상을 도출하였다. 최소침습수술용 의료로봇산업은 한국에 있어 미래를 주도할 신성장동력으로 주목받고 있으며, 한국뿐만이 아니라 전 세계적으로도 새로운 신성장산업으로 주목받고 있다. 따라서 본 연구는 이러한 최소침습수술용 의료로봇의 기술적 특징과 그 구성기술요소를 고찰하여, 해외의 최소침습수술용 의료로봇기술 중 특히 미국을 중심으로, 한국의 최소침습수술용 의료로봇기술의 상대적 미래우위전략을 찾고자, 미래지향적인 방안을 모색하였으며, 그 결과 한국의 최소침습수술용 의료로봇에 있어, 증강현실(Augmented Reality) Display기술에 대한 '집중전략'이 한국정부가 추진할 바람직한 정책이었다.

• Journal of Korean Neurosurgical Society
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• 제42권4호
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• pp.245-250
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• 2007

Tubular retractor system as a minimally invasive surgery (MIS) technique has many advantages over other conventional MIS techniques. It offers direct visualization of the operative field, anatomical familiarity to spine surgeons, and minimizing tissue trauma. With technical advancement, many spinal pathologies are being treated using this system. Namely, herniated discs, lumbar and cervical stenosis, synovial cysts, lumbar instability, trauma, and even some intraspinal tumors have all been treated through tubular retractor system. Flexible arm and easy change of the tube direction are particularly useful in contralateral spinal decompression from an ipsilateral approach. Careful attention to surgical technique through narrow space will ensure that complications are minimized and will provide improved outcomes. However, understanding detailed anatomies and keeping precise surgical orientation are essential for this technique. Authors present the technical feasibility and initial results of use a tubular retractor system as a minimally invasive technique for variaties of spinal disorders with a review of literature.

• Journal of Gastric Cancer
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• 제24권2호
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• pp.210-219
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• 2024

Purpose: The study aimed to investigate real-world surgical outcomes of minimally invasive surgery (MIS) for advanced gastric cancer using Korean Gastric Cancer Association (KGCA)-led nationwide data. Materials and Methods: A nationwide survey of patients who underwent surgical treatment for gastric cancer in 2019 was conducted by the KGCA. A total of 14,076 patients from 68 institutions underwent surgery, and 4,953 patients diagnosed with pathological stages IB-III gastric cancer were included. Among them, 1,689 patients who underwent MIS (MIS group) and 1,689 who underwent the open approach (open group) were matched using propensity score in a 1:1 ratio. Surgical outcomes were compared, and multivariate analysis was performed to identify the independent factors for overall morbidity. Results: The MIS group had a lower proportion of D2 lymphadenectomy, total omentectomy, and combined resection. However, the number of harvested lymph nodes was higher in the MIS group. Better surgical outcomes, including less blood loss and shorter hospital stay, were observed in the MIS group, and the overall morbidity rate was significantly lower in the MIS group (17.5% vs. 21.9%, P=0.001). The mortality rates did not differ significantly between the 2 groups. In the multivariate analysis, the minimally invasive approach was a significant protective factor against overall morbidity (odds ratio, 0.799; P=0.006). Conclusions: Based on the Korean nationwide data, MIS for stage IB-III gastric cancer had better short-term outcomes than the open approach, including lower rates of wound complications, intra-abdominal abscesses, and cardiac problems.

• 센서학회지
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• 제26권4호
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• pp.266-273
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• 2017

In this research a medical palpation guidance system for minimally invasive surgery (MIS) is proposed. Palpation is a useful tool for identifying a size and location of a lump during a surgery. However, conventional manual palpation is only available in open surgery, so there has been several researches about palpation assistant or guidance system for MIS. The previously developed systems are based on a pressure based or stiffness based approach. These previous approaches have some limitations in increasing complexity of the systems and lack of geometric information about the lump which is more important information for the lump removal than the stiffness information. We propose a palpation guidance system using a novel approach using contact pressure distribution. Since our approach gives the geometry information of the lump as well as the existence information, the operator can easily notice the currently identified lump region and the optimal position for the next palpation. The experiment results show that our approach can offer the geometry information of the lump correctly.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.378-383
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• 2007

As the Minimally Invasive Surgery (MIS) is developed, an interventional procedure becomes the major of the spine surgery in the world. Despite of the use of the expensive medical equipments, the success chance of the nucleoplasty is about 30%. The reason is that the shape of the cannular needle is similar to that of the conventional injector and looks like the straight. Because the tip of these straight needles is not able to reach in the vicinity of the disc bulging or the protrusion, which are the cause of the low back pain and because the far indirect plasma discharge results in the decompression, the nucleoplasty has the limit. Many incurable diseases has not been solved due to the unexistence of the advanced technique for the MIS human body cannula device. If 3-D direction controllable cannular catheter (whose direction is accurately controlled after inserting into the bodies to cure the lesion) is developed, it is expected that new devised cannular catheter can cure many incurable diseases simultaneously. Therefore, the aims of this research are to develop the new devised cannular catheter of SMA direction controller for the medical situation, which has been produced through many previous trial-error procedures, and to produce the commercial medical device.

• 대한기관식도과학회:학술대회논문집
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• 대한기관식도과학회 2010년도 제53차 학술대회 초록집
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• pp.35-35
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• 2010

• 제어로봇시스템학회논문지
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• 제19권12호
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• pp.1160-1166
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• 2013

This paper presents feedforward controllers to improve the control performance of the motion and grasping force of a surgical instrument used in an MIS (Minimally Invasive Surgery) robot. The surgical instrument has a long distance between the drive motors and its active joints. Therefore, the gripper on the instrument is controlled by a cable drive mechanism, which generates a coupled motion between the wrist joint and the grip direction. In order to solve the problem, this paper analyzes the pulley composition of the surgical instrument and proposes feedforward controllers to eliminate the coupled motion. Furthermore, feedforward controllers to regulate the grasping force are proposed to deal with another coupling problem between the grasping force of the instrument and the motion of the instrument joints. The experimental results demonstrate the improved control performance of the motion and grasping force of the instrument.