• 로봇학회논문지
• /
• 제12권3호
• /
• pp.322-331
• /
• 2017

In this paper we present a novel robotic palpation method for the lump shape estimation using contact pressure distribution. Many previous researches about the robotic palpation have used a stiffness map, which is not suitable to obtain geometrical information of a lump. As a result, they require a large data set and long palpation time to estimate the lump shape. Instead of using the stiffness map, the proposed palpation method uses the difference between the normal force direction and the surface normal to detect the lump boundary and estimate its normal. The palpation trajectory is generated by the normal of the lump boundary to track the lump boundary in real-time. The proposed approach requires small data set and short palpation time for the lump shape estimation since the shape can be directly estimated from the optimally generated palpation trajectory. An experiment result shows that our method can find the lump shape accurately in real-time with small data and short time.

• 센서학회지
• /
• 제26권4호
• /
• pp.266-273
• /
• 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.

• 대한한의학원전학회지
• /
• 제25권4호
• /
• pp.65-83
• /
• 2012

Objective : Studying Naekyung's relation with confirmation of the three segments in the Chongu-mac palpation and the assignments of five vidcera and six entails. Finding the original principles of the segmemt confirmation in the Chongu-mac palpation from Naekyung. Method : Analyzing the relating contents of the Palpation of Chuk-bu and Chongwanchuk-sambu in Somoon, Macyojungmiron. Performing comparative study on the successive doctors' notes. Result : Found that the confirmation of the three segments in the Chongu-mac palpation and the assignments of five vidcera and six entails was originated from Naekyung. The original diagnotic principles of Naekyung are more clearly revealed. Conclusion : Somoon, Macyojungmiron is about the palpation of Chuk-bu. Somoon, Macyojungmiron is the origin of Chongu-mac diagnosis. The method of dividing the three segments in Chongu-mac diagnosis is from Somoon, Macyojungmiron. The Chongu-mac diagnosis should follow the principles found in Naekyung.

• 대한한방내과학회지
• /
• 제18권1호
• /
• pp.86-96
• /
• 1997

We examined clinical and reseach data about abdominal palpation conducted in japanese oriental medicine from the early stages of its medical history to the latest research, so as to introduce it into korean oriental medicine. That is to say, we studied clinical significance and suitable oriental medicine prescription about following : sweat and moistness of abdominal skin ; temperature of abdominal skin ; palpation and visible peristaltic movement ; meteorism ; tonus of the whole rectus abdominis muscle ; local tonus of parts rectus abdominis muscle ; palpitation of abdominal aorta ; resistance tender on pressure in epigastric region, subcostal region, umbilical region, lower abdomen, para-umbilical region, cecal region, sigmoid region and inguinal region ; sound of fluctuating liquid in the epigastric region. The result was that abdominal palpation was an immediately applicable method of clinical diagnosis in oriental medicine, and is being proven by western medicine methodology today. Therefore we suggest that korean oriental medicine would advance greatly if abdominal palpation were applied.

• 대한한의진단학회지
• /
• 제19권2호
• /
• pp.65-74
• /
• 2015

Objectives As a method of body temperature distribution diagnosis, palpation of infants' forehead had been widely introduced in ancient East Asian medical classics. However, few attention have been paid to this diagnostic method - so called 'emaizhenduan (額脈診斷)'. So we studied the history of emaizhenduan and it's implication in modern clinical field. Materials and methods: To search the medical classic that contains any contents of emaizhenduan, we mainly used the electronic texts of Zhonghuayidian (中華醫典). To search modern study article on emaizhenduan, we used China National Knowledge Infrastructure (www.cnki.net), National Digital Science Library (ndsl.kr) etc. Results 20 kinds of East Asian medical classics were found to contain contents on emaizhenduan. The oldest one was Huoyoukouyi (活幼口議) which was written in Yuan dynasty of China. Only one modern TCM book was found to have comments on emaizhenduan, while some textbooks of pediatrics in Korean Medicine was found to have relatively sound introduction on emaizhenduan. Conclusion It is shown in ancient East Asian medical classics that infants' forehead temperature palpation was introduced as early as late 13th century in China, and have continuously been referred in many East Asian medical classics before modern era.

• 대한한의학원전학회지
• /
• 제30권1호
• /
• pp.51-55
• /
• 2017

Objectives : Though regional body temperature palpation is one of well stylized diagnosis methods in Huangdineijing, it has not been thoroughly reconstructed. So I tried to find and reconstruct the methods in Huangdineijing to diagnose regional body temperature as a objective sign. Material and Methods : Huangdineijing(in Zhonghuayidian) was used for text search. "Heat(熱)", "Cold and Heat(寒熱)", "Cold and Warmth(寒溫)", "Root and Terminal(本末)" was used as searching keywords. By classifying and analysing searched sentences I reconstructed the original palpation methods. Results : Two types of regional temperature palpation method was found in Huangdineijing. One is the method palpating the Root(origin) points and Terminal points of the meridians, while the other method is that palpating the skin in anterior side of forearm. It was proved that they had been collaboratively used to diagnose the diseases related to meridians and it's collaterals. Conclusions :In the era of Huangdineijing, there was at least two types of regional temperature palpation method and their clinical usage was in complementary relations.

• 동의생리병리학회지
• /
• 제23권2호
• /
• pp.269-277
• /
• 2009

"Kenjurok" is a set of medical records of Todo Yoshimasu, a Japanese docotr in the eighteenth century, who suggested that all diseases have originated from a poison, which is his own pathological term describing abnormal states of the body, The 54 records in "Kenjurok" were analyzed in statistical respects, including gender ratio, demographic distribution of patients, types of diseases, and herbal prescriptions used. Among 54 cases, male patients outnumbered female, as much as four times. The patients were quite evenly distributed according to ages. In 23 cases out of 54, abdomen palpation data were mentioned, Majority of the prescriptions used were originated from Sanghanron(傷寒論:Treaties on Febrile Diseases)/Geumgeyoryak(金匱要略: Synopsis of Golden Chamber). In frequency of use of prescriptions, however, showed somewhat different result, that is although Sanghan/Geumge prescriptions were used most often, esoteric prescriptions handed down in his family also composed significant part. The speculations derived from these statistical results are: Although Todo favored abdommen palpation to locate the poison and to decide a prescription, the proportion of abdomen palpation was not as high as expectation, He did use prescriptions not only in Sanghan/Geumge, but also other diverse prescriptions, rather often than not, which are regarded unique Japanese traditional prescriptions including poisonous minerals such as mercury and arsenic.

• 대한한의학원전학회지
• /
• 제27권3호
• /
• pp.1-10
• /
• 2014

Objectives : For the excellent differentiation of syndromes, we study on the individual characteristic factor by the interrogation of history taking and palpation. Methods : To the subject of diagnosis special books and diagnostics textbook of korean medicine, we arrange the individual characteristic factor by the interrogation of history taking and palpation. Results : The interrogation of history taking on the individual characteristic factor was arranged dispositional symptoms and individual characteristic of syndromes. And the pulse taking and palpation on the individual characteristic factor was arranged the moderate person's pulse condition ; floating pulse, deep and sinking pulse, replete and forceful pulse, intermittent pulse, long pulse, slippery or smooth pulse, relaxed or loose pulse (浮沈實大長滑緩脈), six Yin and six Yang pulse (六陽脈, 六陰脈). Conclusions : As the results, the individual characteristic factor is very important item of the four methods of diagnosis and the differentiation of syndromes. And therefore, we have to divide the signs of individual characteristic factor and the signs of disease in the process on four methods of diagnosis and differentiation of syndromes.

• 대한한의학원전학회지
• /
• 제27권1호
• /
• pp.111-122
• /
• 2014

Objective : The region, observation period, figuration of pulse, pulse frequency, process of diagnosis and related diagnostic methods in traditional pediatric pulse diagnosis were studied in this article. Method : The articles related to traditional pediatric pulse diagnosis in Traditional medical classics, and analysis to the characteristics of it was done, then lastly, the principle of pulse manifestation and the meaning of application to modern times were considered. Result & Conclusion : It is difficult to catch the figuration of pediatric pulse because of dynamic change of body conditions, fast heartbeat and narrow region of pulse. Therefore, the pulse diagnosis appropriated for children have been developed and combined with the special diagnosis methods, for example, palpation of forehead and observation of index finger. The traditional pediatric pulse diagnosis is done with just one finger palpation in the period of 3 to 5 years old to identify the speed, length, size and height of pulse. The standard average of pulse frequency is 7~8 par breath in the period of 3 to 5 years old according to traditional medical classic.

• 대한한의학원전학회지
• /
• 제31권3호
• /
• pp.33-58
• /
• 2018

Objectives : Literatures related to Bianque are studied to discover the path of development and the impact of Bianque school's pulse diagnosis system. Methods : Texts regarding Bianque were searched in history books such as Shiji and Zhanguoce, and medical texts such as the medical books of Mawangdui Han Tomb, Huangdineijng, Maijing, and Qianjinyifang to understand how the Bianque school's pulse diagnosis system was developed. Results : 1. Bianque school's pulse diagnosis system was used to inspect the distribution pattern of blood vessels and discover the location of the disease including the palpatation realm such as only hard or only fall. 2. The system of inspection was created when the diagnosis method that uses the color of the pulse by using the color of blood vessels was added to the diagnostic method of pulse condition. 3. Adding the concept of pulse to the visual information that derives from pulse condition becomes pulsation. This is a diagnostic method that falls under the realm of palpation, and it was used to discover the location of disease. 4. The qi of pulse is motor that induces pulse, and this concept is used in order to understand how normal and abnormal pulsations appear, and to treat the circulation disorder of qi and blood. 5. Cubit skin examination is a method that comprehensively take into account the upper arm skin's cold and heat, slippery and roughness, and relax and tension state. This method was used together with other diagnostic methods. As described above, it seems that the diagnostic method with blood vessels used by Bianque school seems to have developed from Bianque's special inspection ability to the stage where it uses palpation, and then to the stage of cubit skin examination which uses both palpation and inspection.