• 한국정밀공학회지
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• 제33권7호
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• pp.565-570
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• 2016

This paper presents the characteristics related to needle insertion of a robotic device for the automated biopsy procedure. The automated biopsy device, a main component of the robotic needle insertion type intervention system, allows performance of the full biopsy procedure, except for anesthesia, without direct handling of a radiologist or a tele-operated control. In this study, the needle length parameters corresponding to various insertion depths and precision for needle insertion of the automated biopsy device, are discussed. There were two combinations of needle length parameters for appropriate needle insertion and motion capture-based measurement was performed; 0.156 mm error for the 90 mm length commanded insertion displacement was measured. The pre-defined goal is a maximum 1 mm error and thus our measured error is within the acceptable range. In the repeatability check, it was also shown that the device can implement a highly accurate insertion.

• Child Health Nursing Research
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• 제22권1호
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• pp.21-28
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• 2016

Purpose: The purpose of this study was to identify effects of EMLA (Eutectic Mixture of Local Anesthetics) cream application on pain perception and pain response during insertion of implanted venous access port needle in children with cancer. Methods: From December 2010 to August 2011, at U university hospital, 20 patients scheduled for implanted venous access port needle insertion were recruited, and randomly assigned to receive either EMLA or a placebo cream 1 hour before the implanted venous access port needle insertion. While conducting needle insertion, changes in pulse and oxygen saturation on the pulse oxymeter monitor were measured and pain behavior reaction was also measured during needle insertion in the treatment room. After conducting needle insertion, self-reported pain reaction, and mothers' perception of the children's pain reaction were measured. Collected data were statistically processed using SPSS version 17.0 for Windows, and analyzed using descriptive statistics, t-test. Results: Children's self-reported degree of pain, degree of pain as perceived by mothers and pain behavior reaction decreased significantly in the EMLA application group compared with the placebo group. Conclusion: Findings indicate that application of EMLA cream is effective in relieving pain in these children during implanted venous access port needle insertion.

• 로봇학회논문지
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• 제16권1호
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• pp.64-71
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• 2021

This paper describes a robotic teleoperation system to perform an accurate needle insertion into a cornea for a separation between the stromal layer and Descemet's membrane during deep anterior lamellar Keratoplasty (DALK). The system can reduce the hand tremor of a surgeon by scaling the input motion, which is the control input of the slave robot. Moreover, we utilize corneal applanation to estimate the insertion depth. The proposed system was validated by performing the layer separation using 25 porcine eyes. The average depth of needle insertion was 742 ± 39.8 ㎛ while the target insertion depth was 750 ㎛. Tremor error was reduced from 402 ± 248 ㎛ in the master device to 28.5 ± 21.0 ㎛ in the slave robot. The rate of complete success, partial success, and failure were 60, 28, and 12%, respectively. The experimental results showed that the proposed system was able to reduce the hand tremor of surgeons and perform precise needle insertion during DALK.

• 부모자녀건강학회지
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• 제8권1호
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• pp.37-48
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• 2005

Purpose: The purpose of this study was to develop a play education program to reduce children's fear of needle insertion to the implanted port, and to assess the effect of this program. Method: The play education program was composed of play education before needle insertion, encouragement during needle insertion, and a present to reward then after needle insertion. Measurement instruments were the Procedure Behavior Check List(PBCL) and Faces Rating Scale(FRS). Results: The first hypothesis, "the PBCL point of children with malignant disease would decrease after play education program", was rejected(before insertion : Z=-0.189, p= .850, during insertion : Z=-0.350. p= .727, after insertion : Z=-0.590, p= .555). The second hypothesis, "the FRS point of children with malignant disease would decrease after play education program education", was rejected(observer 1 : Z=-0.245, p= .806, observer 2 : Z=-0.912, p= .362, self-report : Z=-0.181, p= .856). The third hypothesis, "the Time of needle insertion would decrease after play education program", was rejected(Z=-0.464, p= .642). Conclusion: The effect on fear-reduction of play education program for children with malignant disease inserted implanted port was not significant but continuous education is needed for parents and children.

• Journal of Acupuncture Research
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• 제40권1호
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• pp.44-52
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• 2023

Background: Previous studies have investigated technology-aided needling training systems for acupuncture on phantom models using various measurement techniques. In this study, we developed and validated a vision-based needling training system (noncontact measurement) and compared its training effectiveness with that of the traditional training method. Methods: Needle displacements during manipulation were analyzed using OpenCV to derive three parameters, i.e., needle insertion speed, needle insertion angle (needle tip direction), and needle insertion length. The system was validated in a laboratory setting and a needling training course. The performances of the novices (students) before and after training were compared with the experts. The technology-aided training method was also compared with the traditional training method. Results: Before the training, a significant difference in needle insertion speed was found between experts and novices. After the training, the novices approached the speed of the experts. Both training methods could improve the insertion speed of the novices after 10 training sessions. However, the technology-aided training group already showed improvement after five training sessions. Students and teachers showed positive attitudes toward the system. Conclusion: The results suggest that the technology-aided method using computer vision has similar training effectiveness to the traditional one and can potentially be used to speed up needling training.

• 대한한의학회지
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• 제35권4호
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• pp.74-82
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• 2014

Objectives: Quantification, objectification, and standardization of lifting-thrusting manipulation are important issues in traditional Chinese medicine (TCM). The purpose of this study was to quantitatively investigate the difference in the amount of stimulation according to range and frequency among parameters of lifting-thrusting manipulation with the use of a needle insertion-measurement system. Methods: For quantification of lifting-thrusting manipulation, an acupuncture needle insertion-measurement system was used in phantom tissue. The motor and force sensors of the needle insertion device were connected to the control software. This enabled operation of the lifting-thrusting manipulation and measurement of the acupuncture needle force. The measurement of the acupuncture needle force according to various frequencies (0.25, 0.50, 0.75, and 1 Hz) and ranges of movement (2, 4, 6, 8, and 10 mm) was repeated 10 times. Results: At a constant frequency of movement, acupuncture needle force according to range of movement (2, 4, 6, 8, and 10 mm) increased with increasing range of movement (p < 0.05). At a constant range of movement, acupuncture needle force according to frequency of movement (0.25, 0.50, 0.75, and 1.0 Hz) increased with increasing frequency of movement (p < 0.05). Conclusion: In this study, we conducted a quantitative comparison of the amount of stimulation according to range and frequency, the main parameters of lifting-thrusting manipulation, by using an acupuncture needle insertion-measurement system. Future studies on various manipulations and parameters are warranted to quantify and objectify the amounts of stimulation by acupuncture manipulation.

• 로봇학회논문지
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• 제15권4호
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• pp.316-322
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• 2020

Endoscopic spine surgery is an advanced surgical technique for spinal surgery since it minimizes skin incision, muscle damage, and blood loss compared to open surgery. It requires, however, accurate positioning of an endoscope to avoid spinal nerves and to locate the endoscope near the target disk. Before the insertion of the endoscope, a guide needle is inserted to guide it. Also, the result of the surgery highly depends on the surgeons' experience and the patients' CT or MRI images. Thus, for the training, a number of haptic simulators for spinal needle insertion have been developed. But, still, it is difficult to be used in the medical field practically because previous studies require manual segmentation of vertebrae from CT images, and interaction force between the needle and soft tissue has not been considered carefully. This paper proposes AI-based automatic vertebrae CT-image segmentation and haptic rendering method using the proposed need-tissue interaction model. For the segmentation, U-net structure was implemented and the accuracy was 93% in pixel and 88% in IoU. The needle-tissue interaction model including puncture force and friction force was implemented for haptic rendering in the proposed spinal needle insertion simulator.

• Korean Journal of Acupuncture
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• 제35권3호
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• pp.149-158
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• 2018

Objectives : In this study, we quantitatively evaluated the needle forces using needle insertion-measurement system and compared the needle sensation of each acupuncture practical model. Methods : After inserting acupuncture with a sensor to six models, a lifting-thrusting motion was implemented using the needle insertion-measurement system. The needle force was measured repeatedly, and the measurement was analyzed based on the modified Karnopp friction model for a comparison of friction coefficients. After the insertion, practitioners did lifting-thrusting manipulations. They quantified the similarity of needle sensation with VAS (Visual Analogue Scale). Results : When friction force and coefficients of friction in five different models were compared with a porcine shank model, all five models were significantly different from a porcine shank model, cotton and apple showing the closest frictional values to that of a porcine shank model. In the Cp and Cn values of cotton and in the Cp values of IM injection pad, there was no statistically significant difference. The similarity of the needle sensation between the porcine shank and five models was the highest in the apple, and overlapping papers was the lowest. Conclusions : This study quantitatively compared the physical forces in the practical model when implementing lifting-thrusting manipulations, using a needle insertion-measurement system. We suggest that a reproducible exercise model that reflects the characteristics of various human tissues, such as viscoelasticity or strength, needs to be further developed. This will contribute to establishing standardized acupuncture practice training.

• 한국정밀공학회지
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• 제29권2호
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• pp.222-228
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• 2012

Haptics and virtual reality are rapidly growing technologies in medical fields. Physicians and nurses can benefit from medical simulation via training and acquire surgical and clinical techniques. In this paper, the research on needle insertion force of biological tissue for haptic based intravenous injection simulator was carried out. We built the setup for needle insertion (intravenous injection) experiments and performed the experiments on live pigs. The force responses against needle insertion were measured using the experimental setup. In addition, the modeling of needle insertion force was carried out with the experimental results and numerical models via nonlinear least-squares method. The results presented in this paper indicate that the developed models can be applied not only to estimate the force feedback during intravenous injection procedure but also to improve the overall training quality of the medical simulator.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.539-539
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• 2000

This paper shows how to implement force reflection for a needle insertion problem. The target is a needle spine biopsy simulator for tumor inspection by needle insertion. Simulated force is calculated from the relationship of volume graphic data and the orientation and Position of the needle, and it is generated using PHANTOM$^{TM}$. To generate realistic force reflection, the directional force of the needle has been generated by tissue model. The other rotational force is generated using a pivot to keep the needle in the initial inserted direction after puncturing the skin. Since the used haptic device has limitation for generating high stiffness and large damping, scale downed model and digital filter are used to stabilize the system.m.