• Journal of Mechanical Science and Technology
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• 제19권12호
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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.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집C
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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.

• 제어로봇시스템학회논문지
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• 제15권7호
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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.

• 한국정보통신학회논문지
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• 제25권6호
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• pp.799-806
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• 2021

정합은 고유 좌표를 가지고 있는 점군을 전역 좌표로 변환하는 과정이다. 지역 정합은 계산 시간이 오래 걸리고 대략적인 위치를 맞춘 후 정밀 정합을 수행하고, 전역 정합은 정합에 이용할 대응점을 계산하고 한 번에 정합하기 때문에 일반적으로 지역 정합법에 비해 속도가 빠르고, 초기 위치에도 상관이 없다. 전역 정합 방법 중 고속 전역 정합법은 성능이 우수하여 많이 사용하는 방법 중 하나이다. 하지만 정합 정밀도와 속도를 높이기 위해서는 많은 매개변수가 필요하다. 본 논문에서는 이와 같은 매개변수들을 분석하고 실험하여 실제 정합 시 유효하게 작용하는 매개변수를 제안한다. 제안한 결과는 고속 전역 정합법을 활용해야 하는 경우 방향 설정에 도움이 될 것이다.

• 대한원격탐사학회지
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• 제25권3호
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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.

• 대한의용생체공학회:의공학회지
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• 제37권2호
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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.

• 대한치과보철학회지
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• 제51권3호
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• pp.199-207
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• 2013

연구 목적: 저작 및 하악 운동시 발생되는 치아접촉은 치열의 보존, 하악의 안정과 보철 수복과정에 있어서 중요하다. 이에 한국인의 20-30대 성인을 대상으로 최대교두감합위에서의 치아접촉점의 위치 및 교합유도양상과 교합유도치의 분포를 분석하여 알아보고자 한다. 연구 대상 및 방법: 29명의 성인을 대상으로 하악의 최대교두감합위에서의 치아접촉점의 위치와 분포 및 전방운동시 교합접촉양상을 shimstock foil (Whaledent, Langenau, Germany), T-Scan III (Tekscan Inc., Boston, MA, USA), polyvinylsiloxane registration material (Genie Bite, Sultan Healthcare, Hackensack, NJ, USA)을 이용하여 측정하였다. 측정시 자세는 직립위로 Frankfurt horizontal plane과 지면이 수평이 되도록 앉게 하였으며 접촉이 재현될 때까지 수 차례 반복한 후 3회씩 측정하였다. 최대교두감합위에서 세가지 방법 간의 통계적 유의성을 비교하기 Fisher's Exact Test (R-General Public License, ver. 2.14.1)를 이용하였고, 전방 운동시 Pearson's Test를 통해 통계 검증하였다(${\alpha}=.05$). 결과: 최대교두감합위에서의 치아 접촉 양상을 shimstock foil, T-Scan III, polyvinylsiloxane registration material로 측정시 전치부, 소구치부, 구치부 모두에서 접촉하는 경우가 대부분이었으며, shimstock 사용시 약51%의 최대교두감합위는 전치부 접촉에서 일어났다. Shimstock foil과 T-Scan III를 사용하여 전방운동 측정시 중절치의 접촉이 가장 많이 일어났다. 결론: 최대교두감합위에서 실제 모든 치아의 접촉이 이루어지지 않는 경우가 있었으며 따라서 구치부에서 전치부를 보호해 주고 있음을 확인할 수 있었다. 또한, 전방운동 시 전치부의 치아접촉은 과도한 구치부의 치아접촉을 방지해 전치부가 구치부를 보호해 주고 있었다. 따라서 교합 재구성 시에는 이러한 상호 보호 교합에 대한 고려가 필요하다.

• 대한치과보철학회지
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• 제24권1호
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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.

• 로봇학회논문지
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• 제17권1호
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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.

• 한국한의학연구원논문집
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• 제15권1호
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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.