• Korean Journal of Head & Neck Oncology
• /
• v.30 no.1
• /
• pp.10-14
• /
• 2014

목 적 CO2 가스 삽입 없이 내시경 보조 갑상선 절제술, 특히 액와 절개를 이용하는 경우의 대부분은 기구 사용을 용이하게 하기 위하여 흉부 또는 유륜에 절개를 넣어 시행하는 것이 대부분이다. 본 연구는 후이개 절개를 통하여 추가적 절개 없이 내시경을 이용한 갑상선 절제술 및 중심 임파선 절제술이 가능한지의 여부를 사체연구를 통하여 확인해 보고자 한다. 방 법 사체 이용 해부 및 수술 후이개 내시경 보조 갑상선 절제술이 가능한지의 확인은 수술 시야 및 접근성, 수술 완성도, 그리고 주요 구조물의 보존 여부인 3가지 항목으로 평가하였다. 결 과 수술 시야는 기구를 다루고 수술을 하기에 충분하였으며, 추가 절개 없이 수술을 완성할 수 있었다. 절제된 갑상선 조직의 피막은 손상되지 않았으며, 잔존 갑상선 조직이 없음을 수술 부위를 통하여 확인하여, 수술의 완성도 여부를 평가할 수 있었다. 모든 사체에서 되돌이 후두신경 및 상 또는 하부갑상선의 보존을 확인하였으며, 주변 구조물들의 손상이 없음을 확인하였다. 결 론 로봇이 아닌 후이개 절개를 이용한 내시경 보조 갑상선 절제술은 시행 가능한 접근법 및 수술방법이라 사료된다.

• Journal of Internet Computing and Services
• /
• v.7 no.5
• /
• pp.135-145
• /
• 2006

This paper presents a novel approach to real-time recognition of 3D environment and objects for intelligent robots. First. we establish the three fundamental principles that humans use for recognizing and interacting with the environment. These principles have led to the development of an integrated approach to real-time 3D recognition and modeling, as follows: 1) It starts with a rapid but approximate characterization of the geometric configuration of workspace by identifying global plane features. 2) It quickly recognizes known objects in environment and replaces them by their models in database based on 3D registration. 3) It models the geometric details on the fly adaptively to the need of the given task based on a multi-resolution octree representation. SIFT features with their 3D position data, referred to here as stereo-sis SIFT, are used extensively, together with point clouds, for fast extraction of global plane features, for fast recognition of objects, for fast registration of scenes, as well as for overcoming incomplete and noisy nature of point clouds. The experimental results show the feasibility of real-time and behavior-oriented 3D modeling of workspace for robotic manipulative tasks.

• Korean Journal of Construction Engineering and Management
• /
• v.10 no.2
• /
• pp.145-154
• /
• 2009

For developing an Automation equipment in construction, it is a key issue to develop 3D modeling technology which can be used for automatically recognizing environmental objects. Recently, for the development of "Intelligent Excavating System(IES), a research developing the real-time 3D terrain modeling technology has been implemented from 2006 in Korea and a stereo vision system is selected as the optimum technology. However, as a result of performance tests implemented in various earth moving environment, the 3D images obtained by stereo vision included considerable noise. Therefore, in this study, for getting rid of the noise which is necessarily generated in stereo image matching, the noise elimination algorithm of stereo-vision images for 3D terrain modeling was developed. The consequence of this study is expected to be applicable in developing an automation equipments which are used in field environment.

• Journal of Gastric Cancer
• /
• v.15 no.4
• /
• pp.270-277
• /
• 2015

Purpose: Minimally invasive gastrectomy (MIG), including laparoscopic distal subtotal gastrectomy (LDG) and robotic distal subtotal gastrectomy (RDG), is performed for gastric cancer, and requires a learning period. However, there are few reports regarding MIG by a beginner surgeon trained in MIG for gastric cancer during surgical residency and fellowship. The aim of this study was to report our initial experience with MIG, LDG, and RDG by a trained beginner surgeon. Materials and Methods: Between January 2014 and February 2015, a total of 36 patients (20 LDGs and 16 RDGs) underwent MIG by a beginner surgeon during the learning period, and 13 underwent open distal subtotal gastrectomy (ODG) by an experienced surgeon in Bundang CHA Medical Center. Demographic characteristics, operative findings, and short-term outcomes were evaluated for the groups. Results: MIG was safely performed without open conversion in all patients and there was no mortality in either group. There was no significant difference between the groups in demographic factors except for body mass index. There were significant differences in extent of lymph node dissection (LND) (D2 LND: ODG 8.3% vs. MIG 55.6%, P=0.004) and mean operative time (ODG 178.8 minutes vs. MIG 254.7 minutes, P<0.001). The serial changes in postoperative hemoglobin level (P=0.464) and white blood cell count (P=0.644) did not show significant differences between the groups. There were no significant differences in morbidity. Conclusions: This study showed that the operative and short-term outcomes of MIG for gastric cancer by a trained beginner surgeon were comparable with those of ODG performed by an experienced surgeon.

• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.10
• /
• pp.839-846
• /
• 2016

Bin picking is a task of picking a small object from a bin. For accurate bin picking, the 3D pose information, position, and orientation of a small object is required because the object is mixed with other objects of the same type in the bin. Using this 3D pose information, a robotic gripper can pick an object using exact distance and orientation measurements. In this paper, we propose a 3D vision technique for accurate measurement of 3D position and orientation of small objects, on which a paper label is stuck to the surface. We use a maximally stable extremal regions (MSERs) algorithm to detect the label areas in a left bin image acquired from a stereo camera. In each label area, image features are detected and their correlation with a right image is determined by a stereo vision technique. Then, the 3D position and orientation of the objects are measured accurately using a transformation from the camera coordinate system to the new label coordinate system. For stable measurement during a bin picking task, the pose information is filtered by averaging at fixed time intervals. Our experimental results indicate that the proposed technique yields pose accuracy between 0.4~0.5mm in positional measurements and $0.2-0.6^{\circ}$ in angle measurements.

• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.10
• /
• pp.853-858
• /
• 2016

Cooperation and collaboration with robots are key functions of robotic utility that are currently developing. Thus, robots should be safe and resemble human beings to cope with these needs. In particular, dual-arm robots that mimic human kinetics are becoming the focus of recent industrial robotics research. Their size is similar to the size of a human adult; however, they lack natural, human-like motion. One of the critical reasons for this is the shoulder complex. Most recent dual-arm robots have only 2 degrees of freedoms (DOFs), which significantly limits the workspace and mobility of the shoulders and arms. Therefore, a redundant shoulder complex could be very important in new developments that enable new capabilities. However, constructing a kinematically redundant shoulder complex is difficult because of spatial constraints. Therefore, we propose a novel, redundant shoulder complex for a human-like robot that is driven by flexible wire tendons. This kinematically redundant shoulder complex allows human-like robots to move more naturally because of redundant DOFs. To control the proposed shoulder complex, a hybrid control scheme is used. The positioning precision has also been considered, and the ability of the shoulder complex to perform several human-like motions has been verified.

• Journal of Computational Design and Engineering
• /
• v.2 no.3
• /
• pp.157-164
• /
• 2015

This paper discusses an optimization-based approach for the design of a product platform for industrial three-axis linear-type robots, which are widely used for handling objects in manufacturing lines. Since the operational specifications of these robots, such as operation speed, working distance and orientation, weight and shape of loads, etc., will vary for different applications, robotic system vendors must provide various types of robots efficiently and effectively to meet a range of market needs. A promising step toward this goal is the concept of a product platform, in which several key elements are commonly used across a series of products, which can then be customized for individual requirements. However the design of a product platform is more complicated than that of each product, due to the need to optimize the design across many products. This paper proposes an optimization-based fundamental framework toward the design of a product platform for industrial three-axis linear-type robots; this framework allows the solution of a complicated design problem and builds an optimal design method of fundamental features of robot frames that are commonly used for a wide range of robots. In this formulation, some key performance metrics of the robot are estimated by a reducedorder model which is configured with beam theory. A multi-objective optimization problem is formulated to represent the trade-offs among key design parameters using a weighted-sum form for a single product. This formulation is integrated into a mini-max type optimization problem across a series of robots as an optimal design formulation for the product platform. Some case studies of optimal platform design for industrial three-axis linear-type robots are presented to demonstrate the applications of a genetic algorithm to such mathematical models.

• Journal of Welding and Joining
• /
• v.34 no.2
• /
• pp.59-66
• /
• 2016

The Gas Metal Arc(GMA) welding, called Metal Inert Gas(MIG) welding, has been an important component in manufacturing industries. A key technology for robotic welding processes is seam tracking system, which is critical to improve the welding quality and welding capacities. The objectives of this study were to develop the intelligent and cost-effective algorithms for image processing in GMA welding which based on the laser vision sensor. Welding images were captured from the CCD camera and then processed by the proposed algorithm to track the weld joint location. The proposed algorithms that commonly used at the present stage were verified and compared to obtain the optimal one for each step in image processing. Finally, validity of the proposed algorithms was examined by using weld seam images obtained with different welding environments for image processing. The results proved that the proposed algorithm was quite excellent in getting rid of the variable noises to extract the feature points and centerline for seam tracking in GMA welding and could be employed for general industrial application.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.44 no.3
• /
• pp.9-13
• /
• 2007

This Paper deals with the synthesis of absolutely stabilizing fixed order controllers for Lure-Postnikov systems. Lure-Postnikov systems are frequently encountered in mechanical engineering applications. Analytical tools for synthesizing stabilizing fixed structure controllers, such as the PID controllers examining the absolute stability of Lure-Postnikov systems, have recently been studied in the literature. However, tools for synthesizing controllers of arbitrary order have not been studied yet. We propose a systematic method for synthesizing absolutely stabilizing controllers of arbitrary order for the Lure-Postnikov systems. Our approach is based on recent results in the literature on approximation of the set of stabilizing controller parameters that render a family of real and complex polynomials Hurwitz. We provide an example of a robotic system to illustrate the procedure developed.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.12 no.2
• /
• pp.345-352
• /
• 2017

In this paper, we design and implement an educational robot system that can use scratch education with the function of user demanding to perform robot education in actual school site in an embedded environment. It is developed to enable physical education for sensing information processing, software design and programming practice training that is the basis of robotic system. The development environment of the system is Arduino Uno based product using Atmega 328 core, debugging environment based on Arduino Sketch, firmware development language using C language, OS using Windows, Linux, Mac OS X. The system operation process receives the control command of the server using the Bluetooth communication, and drives various sensors of the educational robot. The curriculum includes Scratch program and Bluetooth communication, which enables real-time scratch training. It also provides smartphone apps and is designed to enable education like C and Python through expansion. Teachers at the school site used the developed products and presented performance processing results satisfying the missionary needs of the missionaries.