• Journal of Chest Surgery
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• 제54권4호
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• pp.302-309
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• 2021

Totally robotic esophagectomy is performed using a robotic technique without additional thoracoscopy or laparoscopy. However, most robotic esophagectomies are currently performed in a hybrid form combining robotic and other endoscopic techniques. Laparoscopic stomach mobilization and thoracoscopic esophagogastric anastomosis are commonly used methods in robotic esophagectomy. In this paper, totally robotic esophagectomy without thoracoscopic or laparoscopic assistance is presented.

• 한국정밀공학회지
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• 제20권3호
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• pp.202-209
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• 2003

We succeeded to build a cost effective assistance robotic arm with a compact and lightweight body. The robotic arm has three joints, and the tip of robotic arm to install tools consists of a closed link mechanism, which consisted of two actuators and several links. The robotic arm has been made possible by the use of actuators typically used in radio control devices. The controller of the robotic arm consists of a single chip PIC only. The robotic arm has a friendly user interface, as the operators are aged and disabled in most cases. The operator can manipulate the robotic arm by voice commands or by pressing a push button. The robotic arm has been successfully prototyped and tested on an elderly patient to assist with eating. The results of field test were satisfactory.

• 한국정밀공학회지
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• 제30권6호
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• pp.615-621
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• 2013

The robot calibration has greatly improved the absolute accuracy of the industrial robot. However, the accuracy of the relative positions of robotic tool-tip at work-points on a work-piece is only slightly corrected by the robot calibration since there has been no practical method to eliminate the elements of the setup position errors at a robotic workplace. A robotic workplace calibration is demonstrated in this paper to minimize the relative position errors between a robot tool-tip and the work-point on a work-piece. The existing teaching and playback method has been developed for the robotic workplace calibration. This paper uses the work-piece fixed in a robotic work-place as measurement equipment instead of a special robot measurement equipment for the robotic workplace calibration. The positive effect of the robotic workplace calibration is supported by the results of computer simulation on an ideal robotic workplace model and an experiment at the actual robotic workplace.

• Journal of Gynecologic Oncology
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• 제29권6호
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• pp.87.1-87.4
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• 2018

Objective: Upper paraaortic lymph node dissection (UPALD) to the infrarenal level is one of the most challenging robotic procedures. Because robotic system has the limitation in robotic arm mobility. This surgical video introduces a novel robotic approach, lower pelvic port placement (LP3), to perform optimally and simultaneously both UPALD and pelvic procedures in gynecologic cancer patients using da Vinci Xi system. Methods: The patient presented with high-grade endometrial cancer. She underwent robotic surgical staging operation. For the setup of the LP3, a line was drown between both anterior superior iliac spines. At 3 cm below this line, another line was drown and four robotic ports were placed on this line. Results: After paraaortic lymph node dissection (PALD) was completed, the boom of robotic system was rotated $180^{\circ}$ to retarget for the pelvic lateral displacement. Robotic ports were placed and docked again. The operation was completed robotically without any complication. Conclusion: The LP3 was feasible for performing simultaneously optimal PALD as well as procedures in pelvic cavity in gynecologic cancer patients. The advantage of LP3 technique is the robotic port placement that affords for multi-quadrant surgery, abdominal and pelvic dissection. The LP3 is facilitated by utilizing advanced technology of Xi system, including the patient clearance function, the rotating boom, and 'port hopping' that allows using every ports for a camera. The LP3 will enable surgeons to extend the surgical indication of robotic surgical system in the gynecologic oncologic field.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.700-705
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• 2003

In this paper, an extended process model is proposed for the application of flexible belt grinding equipment as utilized in robotic grinding. The analytical and experimental results corresponding to grinding force, material removal rate (MRR) and contact area in the robotic grinding shows the difference between the conventional grinding and the flexible robotic grinding. The process model representing the relationship between the material removal and the normal force acting at the contact area has been applied to robotic programming and control. The application of the developed model in blade grinding demonstrates the effectiveness of proposed process model.

• 한국원자력학회:학술대회논문집
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• 한국원자력학회 2005년도 춘계학술발표회
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• pp.1347-1348
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• 2005

• 대한기관식도과학회지
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• 제16권1호
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• pp.27-32
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• 2010

Organ preservation surgery and minimally invasive surgery have been developed during the past 20 years with major focus on transoral laser surgery, endoscopic surgery, and robotic surgery. Two major robotic surgeries in head and neck area are transoral robotic surgery (TORS) and robotic thyroidectomy. Transoral robotic surgery is a safe and efficacious method of surgical treatment of oropharyngeal. hypopharyngeal and laryngeal neoplasm. Advantages of the technique include adequate ability to visualize and manipulate lesions with two hands. TORS can provide magnified three dimensional views and overcome the limitation resulting from the "line of sight" which hinders transoral laser procedure. The swallowing function following transoral robotic surgery show superior and patients were able to retain or rapidly regain swallowing function in the majority of cases. Recently, robotic thyroidectomy has also been developed to overcome the [imitation of endoscopic thyroidectomy. Robotic thyroidectomy by a gasless unilateral axillo-breast or axillary approach using a da Vinci S Surgical Robot is a feasible and cosmetically excellent procedure. It can be a promising alternative to endoscopic thyroidectomy or conventional open thyroidectomy.

• Journal of Chest Surgery
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• 제48권5호
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• pp.311-317
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• 2015

Background: Robotic surgery is an alternative to minimally invasive surgery. The aim of this study was to report on current trends in robotic thoracic and cardiovascular surgical techniques in Korea. Methods: Data from the National Evidence-based Healthcare Collaborating Agency (NECA) between January 2006 and June 2012 were used in this study, including a total of 932 cases of robotic surgeries reported to NECA. The annual trends in the case volume, indications for robotic surgery, and distribution by hospitals and surgeons were analyzed in this study. Results: Of the 932 cases, 591 (63%) were thoracic operations and 340 (37%) were cardiac operations. The case number increased explosively in 2007 and 2008. However, the rate of increase regained a steady state after 2011. The main indications for robotic thoracic surgery were pulmonary disease (n=271, 46%), esophageal disease (n=199, 34%), and mediastinal disease (n=117, 20%). The main indications for robotic cardiac surgery were valvular heart disease (n=228, 67%), atrial septal defect (n=79, 23%), and cardiac myxoma (n=27, 8%). Robotic thoracic and cardiovascular surgeries were performed in 19 hospitals. Three large volume hospitals performed 94% of the case volume of robotic cardiac surgery and 74% of robotic thoracic surgery. Centralization of robotic operation was significantly (p<0.0001) more common in cardiac surgery than in thoracic surgery. A total of 39 surgeons performed robotic surgeries. However, only 27% of cardiac surgeons and 23% of thoracic surgeons performed more than 10 cases of robotic surgery. Conclusion: Trend analysis of robotic and cardiovascular operations demonstrated a gradual increase in the surgical volume in Korea. Meanwhile, centralization of surgical cases toward specific surgeons in specific hospitals was observed.

• 대한두경부종양학회지
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• 제31권2호
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• pp.1-5
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• 2015

The role of transoral robotic surgery in the treatment of upper aerodigestive tract tumor has expanded in recent. Since the approval of the da Vinci system, the number of transoral robotic surgery has increased significantly. The main indications of transoral robotic surgery are tumors of oropharynx, hypopharynx, and larynxs. Transoral robotic surgery is a minimally invasive surgical approach that offers surgical access to the laryngopharynx without the morbidity of open surgeries while achieving excellent oncologic and functional outcomes. The appropriate application of transoral robotic surgery is still being investigated and previous studies supports transoral robotic surgery as a viable option in the management of upper aerodigestive tract tumor.

• Journal of Advanced Marine Engineering and Technology
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• 제32권5호
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• pp.724-729
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• 2008

Umbilical cord blood has been recently considered an attractive potential alternative as a source of stem cell transplantation to curing diseases such as leukemia, cancers, immune disorders. Normally the stored system of the umbilical cord blood specimen is equipped with a computer-controlled robotic arm that enables the samples to locate the identification places in liquid nitrogen tank at regulated temperature as about $-196^{\circ}C$. As the half of robotic arm is in the air and the rest part is submerged in liquid nitrogen, the temperature of robotic arm varies from ambient to liquid nitrogen temperature. In this study the temperature variation of upper part of arm above tank lid was thermally analysed by using the commercial code of Ansys. The result of analysis was that the upper part of robotic arm was seriously frozen due to heat transfer from liquid nitrogen as low as -$120^{\circ}C$. In order to solve the frost problem of robotic arm, small PTFE tube block as resistance material was introduced into the lower part of tank lid instead of the whole stainless steel(SUS) robotic arm. The results showed that the temperature of robotic arm above the lid was higher enough, and this method would be one of the very effective measure to solve the problem.