• Journal of Mechanical Science and Technology
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• v.19 no.12
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• pp.2213-2223
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• 2005

In order to reconstruct a full 3D human model in reverse engineering (RE), a 3D scanner needs to be placed arbitrarily around the target model to capture all part of the scanned surface. Then, acquired multiple scans must be registered and merged since each scanned data set taken from different position is just given in its own local co-ordinate system. The goal of the registration is to create a single model by aligning all individual scans. It usually consists of two sub-steps: rough and fine registration. The fine registration process can only be performed after an initial position is approximated through the rough registration. Hence an automated rough registration process is crucial to realize a completely automatic RE system. In this paper an automated rough registration method for aligning multiple scans of complex human face is presented. The proposed method automatically aligns the meshes of different scans with the information of features that are extracted from the estimated principal curvatures of triangular meshes of the human face. Then the roughly aligned scanned data sets are further precisely enhanced with a fine registration step with the recently popular Iterative Closest Point (ICP) algorithm. Some typical examples are presented and discussed to validate the proposed system.

• Proceedings of the KSME Conference
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• 2001.06c
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• pp.482-484
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• 2001

In orthopedics, hip arthroplasty is the operation that replaces damaged hip joint to artificial joint. In hip arthroplasty, quite better result can be achieved if robot is applied to machine cavity in bone, especially when cementless stem is used. So several kinds of robots were introduced for hip arthroplasty, but they used MRI, CT Scan, vision analysis and real time tracking of bone position for registration of robot. To overcome shortage of conventional robot surgery, gauge based registration method was proposed and small robot was designed. In this method, small robot is mounted on femur, and its position is determined by gauge registration method. Operation procedure was performed on model femur and result was analyzed. This robotic hip surgery system is expected to more adaptable in operation room.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.7
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• pp.700-710
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• 2009

A computer vision technique of estimating the location of an unmanned ground vehicle is proposed. Identifying the location of the unmaned vehicle is very important task for automatic navigation of the vehicle. Conventional positioning sensors may fail to work properly in some real situations due to internal and external interferences. Given a DSM(Digital Surface Map), location of the vehicle can be estimated by the registration of the DSM and multiview range images obtained at the vehicle. Registration of the DSM and range images yields the 3D transformation from the coordinates of the range sensor to the reference coordinates of the DSM. To estimate the vehicle position, we first register a range image to the DSM coarsely and then refine the result. For coarse registration, we employ a fast random sample matching method. After the initial position is estimated and refined, all subsequent range images are registered by applying a pair-wise registration technique between range images. To reduce the accumulation error of pair-wise registration, we periodically refine the registration between range images and the DSM. Virtual environment is established to perform several experiments using a virtual vehicle. Range images are created based on the DSM by modeling a real 3D sensor. The vehicle moves along three different path while acquiring range images. Experimental results show that registration error is about under 1.3m in average.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.25 no.6
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• pp.799-806
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• 2021

The transforming process of point clouds with its local coordinates into a global coordinate is called registration. In contrast to the local registration which takes a long time to calculate and performs precision registration after initial rough positioning, the global registration calculates the corresponding points for registration and performs at once, so it is generally faster than the local registration, and can perform it regardless of the initial position. Among the global methods, the Fast Global Registration is one of the widely used methods due to its fast performance. However, lots of parameters should be set to increase the registration accuracy and speed. In this paper, after analyzing and experimenting the parameters and propose parameters that work effectively in actual registration. The proposed result will be helpful in setting the direction when it is necessary to use the Fast Global Registration method.

• Korean Journal of Remote Sensing
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• v.25 no.3
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• pp.287-294
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• 2009

KOMPSAT-2 like other high-resolution satellites has the time and angle difference in the acquisition of the panchromatic (PAN) and multispectral (MS) images because the imaging systems have the offset of the charge coupled device combination in the focal plane. Due to the differences, high altitude and moving objects, such as clouds, have a different position between the PAN and MS images. Therefore, a mis-registration between the PAN and MS images occurs when a registration algorithm extracted matching points from these cloud objects. To overcome this problem, we proposed a new registration method. The main idea is to discard the matching points extracted from cloud boundaries by using an automatic thresholding technique and a classification technique on a distance disparity map of the matching points. The experimental result demonstrates the accuracy of the proposed method at ground region around cloud objects is higher than a general method which does not consider cloud objects. To evaluate the proposed method, we use KOMPSAT-2 cloudy images.

• Journal of Biomedical Engineering Research
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• v.37 no.2
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• pp.68-74
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• 2016

In this study, we investigated the rotational characteristics which were comprised of directionality and linearity of target registration error (TRE) as a study in advance to enhance the accuracy of contour-based registration in neuronavigation. For the experiment, two rigid head phantoms that have different faces with specially designed target frame fixed inside of the phantoms were used. Three-dimensional coordinates of facial surface point cloud and target point of the phantoms were acquired using computed tomography (CT) and 3D scanner. Iterative closest point (ICP) method was used for registration of two different point cloud and the directionality and linearity of TRE in overall head were calculated by using 3D position of targets after registration. As a result, it was represented that TRE had consistent direction in overall head region and was increased in linear fashion as distance from facial surface, but did not show high linearity. These results indicated that it is possible for decrease TRE by controlling orientation of facial surface point cloud acquired from scanner, and the prediction of TRE from surface registration error can decrease the registration accuracy in lesion. In the further studies, we have to develop the contour-based registration method for improvement of accuracy by considering rotational characteristics of TRE.

• The Journal of Korean Academy of Prosthodontics
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• v.51 no.3
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• pp.199-207
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• 2013

Purpose: The importance of occlusal contacts of the natural dentition for durability of teeth, mandibular stabilization, and restorative dentistry is well known. The purpose of this study is to analyze the occlusal contact and guidance pattern of Koreans by evaluating the static occlusion on maximal intercuspal position and measuring dynamic occlusion during straight protrusion. Materials and methods: The occlusal contacts at maximal interincisal position and the occlusal guidance pattern during straight protrusion of 29 subjects were recorded with shimstock foil (Whaledent, Langenau, Germany), T-Scan III (Tekscan Inc., Boston, MA, USA), polyvinylsiloxane registration material (Genie Bite, Sultan Healthcare, Hackensack, NJ, USA) and compared. Occlusal registration procedures were repeated 3 times. The position was fixed to an upright position and the head position was fixed with the Frankfurt horizontal plane paralleling the horizontal plane. Fisher's Exact Test (R-General Public License, ver. 2.14.1) and Pearson's Test were used to assess the significance level of the differences between the experimental groups (${\alpha}=.05$). Results: When using shimstock foil, T-Scan III system, and polyvinylsiloxane registration material, most of the patients showed contact on anterior, premolar, and molar teeth during maximal intercuspal position. Approximately 51% of maximal intercuspal position showed anterior contact using shimstock foil. When examining the protrusive movement using shimstock foil and T-Scan III system, guidance pattern with the central incisor was the most common. Conclusion: During maximal intercuspal position, there were cases in which not all of the teeth showed occlusal contact. During mandibular protrusive movements, one or more maxillary central incisors frequently joined in straight protrusion and the posterior teeth were disoccluded. Therefore, the anterior teeth protect the posterior teeth, and vice versa. Thus, mutually protected occlusion should be applied when reconstructing occlusion.

• The Journal of Korean Academy of Prosthodontics
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• v.24 no.1
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• pp.45-54
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• 1986

The establishment and/or registration of an optimal or physiologic relationship between the maxillae and mandible has long been a subject of considerable interest and controversy in dentistry. Centric relation has been generally accepted as a repeatable starting point for restoring the mouth. Recently, it has been claimed that an electronic device (Myo-Monitor) will produce an accurate, reproducible occlusal registration at the vertical and horizontal occlusal position most compatible with the muscular of each patient. The objectives of this study was to compare Myo-Monitor centric to centric relation at the points of reproducibility and anteroposterior, superoinferior position. A Vericheck instrument was employed for examining difference in the position and reproducibility of mandible reproduced by the various check bite records. For this study, 8 dental students and dentists who had no missing teeth and no difficulties of mandibular movement were selected. The following three different positions of the mandible were registered (a) centric relation manipulated by means of chin-point technique with Lucia-jig, (b) centric relation manipulated by means of bilateral technique, (c) Myocentric manipulated by Myo-Monitor. From this experiment, the following results were obtained. 1. Bilateral manipulated centric relation was more reproducible than Myocentric in anteroposterior and superoinferior position , but more reproducible than centric relation manipulated by means of chin point technique with Lucia-jig in anteroposoterior position. Centric relation manipulated by means of chin Point technique with Lucia-jig was more reproducible than Myocentric in right anteroposterior and superoinferior position. 2. Centric relation by means of chin point technique with Lucia-jig was posterior($2.16{\pm}0.78mm$) and superior($0.41{\pm}0.16mm$) to centric occlusion. Bilateral manipulated centric relation was posterior($1.68{\pm}0.10mm$) and superior($1.02{\pm}0.45mm$) to centric occlusion. Myocentric was anterior($0.75{\pm}0.70mm$), inferior($0.59{\pm}0.44mm$) to centric occlusion.

• The Journal of Korea Robotics Society
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• v.17 no.1
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• pp.8-15
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• 2022

In this paper, we proposed the method of virtual reality-based surgical navigation to reproduce the pre-planned position and angle of the pedicle screw in spinal fusion surgery. The goal of the proposed method is to quantitatively save the surgical plan by applying a virtual guide coordinate system and reproduce it in the surgical process through virtual reality. In the surgical planning step, the insertion position and angle of the pedicle screw are planned and stored based on the virtual guide coordinate system. To implement the virtual reality-based surgical navigation, a vision tracking system is applied to set the patient coordinate system and paired point-based patient-to-image registration is performed. In the surgical navigation step, the surgical plan is reproduced by quantitatively visualizing the pre-planned insertion position and angle of the pedicle screw using a virtual guide coordinate system. We conducted phantom experiment to verify the error between the surgical plan and the surgical navigation, the experimental result showed that target registration error was average 1.47 ± 0.64 mm when using the proposed method. We believe that our method can be used to accurately reproduce a pre-established surgical plan in spinal fusion surgery.

• Korean Journal of Oriental Medicine
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• v.15 no.1
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• pp.13-22
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• 2009

The registration of Dongeuibogam as UNESCO's Memory of world was not only a national triumph but also an internationally important event. This event got rid of the opinions that suggested Dongeuibogam was a medical system practiced only un the limited area of Korea and this event signified the restoration of Dongeuibogam's international and universal position. Therefore, ih is now our job to find Dongeuibogam's modern applications and restore its value. This study was carried out with the purpose of examining the significance of Dongeuibogam's registration as Memory of world from a medical history's point of view and finding its modern applications. The author discussed significance in three parts of Past Significance, Present Significance and Future Significance. As for modern applications, the author reviewed currently used applications and considered the possible ways to restore its original value as an alternative for future medical science.