• International Journal of Control, Automation, and Systems
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• 제2권1호
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• pp.39-54
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• 2004

We developed an automatic blood pressure control system to maintain the blood pressure of patients at a substantially low level during a surgical operation. The developed system discharges two functions, continuous feedback control of the mean arterial pressure (MAP) by a state-predictive servo controller and risk control based on the inference by fuzzy-like logics and rules using measured data. Twenty-eight clinical applications were made beginning in November 1995, and the effects of the automatic blood pressure control on the operation time and on bleeding were assessed affirmatively by means of Wilcoxon testing. This paper essentially reports the engineering details of the control system.

• 대한두경부종양학회지
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• 제25권1호
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• pp.47-51
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• 2009

Hypopharyngeal cancer have shown poor prognosis though various treatment modalities were developed for several decades. Therefore current trend in managing hypopharyngeal cancer is organ preservation therapy to improve patient's quality of life. Recently, surgery via robotic surgical system in genitourinary surgery improved minimal invasive technique and reduced morbidity dramatically. Hypopharyngeal cancer treatment using Transoral robotic surgery (TORS) in treating lesions of hypopharynx could reduce the morbidity and achieve organ preservation.

• 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.

• Journal of Chest Surgery
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• 제40권2호
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• pp.128-131
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• 2007

da $Vinci^{TM}$ 수술로봇(da $Vinci^{TM}$ Surgical System)은 삼차원영상시스템과 사람의 손동작을 재현할 수 있는 로봇팔을 갖추고 있어, 최소절개를 통한 제한된 공간에서도 입체시야에서 다양한 수술을 시행할 수 있도록 해줌으로써, 최소침습적수술의 장점을 극대화할 수 있도록 해준다. 저자들은 심방중격결손에 대하여 da $Vinci^{TM}$ 수술로봇을 이용한 개심수술을 성공적으로 시행하였기에 보고하는 바이다.

• Journal of Gastric Cancer
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• 제13권4호
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• pp.255-262
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• 2013

Purpose: Robotic surgery for gastric cancer is a promising alternative to laparoscopic surgery, but the data are limited. We aimed to evaluate whether gaining experience in robotic gastrectomy could improve surgical outcomes in the treatment of gastric cancer. Materials and Methods: Two hundred and seven consecutive cases of patients with clinical stage I gastric cancer who underwent robotic surgery at the National Cancer Center of Korea between February 2009 and February 2012 were retrospectively reviewed. Surgical outcomes were analyzed and compared between the initial 100 and later 100 cases. Results: Seven patients required conversion to open surgery and were excluded from further analysis. The mean operating time for all patients was 248.8 minutes, and mean length of hospitalization was 8.0 days. Twenty patients developed postoperative complications. Thirteen were managed conservatively, while 6 had major complications requiring invasive procedures. One mortality occurred owing to myocardial infarction. Operating time was significantly shorter in the latter 100 cases than in the initial 100 cases (269.9 versus 233.5 minutes, P<0.001). The number of retrieved lymph nodes was significantly greater in the latter cases (35.9 versus 39.9, P=0.032). The hospital stay of patients with complications was significantly longer in the initial cases than in the latter cases (16 versus 7 days, P=0.005). Conclusions: Increased experience with the robotic procedure for gastric cancer was associated with improved outcomes, especially in operating time, lymph node retrieval, and shortened hospital stay of complicated patients. Further development of surgical techniques and technology might enhance the role of robotic surgery for gastric cancer.

• Journal of Chest Surgery
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• 제48권2호
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• pp.99-104
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• 2015

Background: We report our initial experiences of robot-assisted cardiac surgery using the da Vinci Surgical System. Methods: Between February 2010 and March 2014, 50 consecutive patients underwent minimally invasive robot-assisted cardiac surgery. Results: Robot-assisted cardiac surgery was employed in two cases of minimally invasive direct coronary artery bypass, 17 cases of mitral valve repair, 10 cases of cardiac myxoma removal, 20 cases of atrial septal defect repair, and one isolated CryoMaze procedure. Average cardiopulmonary bypass time and average aorta cross-clamping time were $194.8{\pm}48.6$ minutes and $126.1{\pm}22.6$ minutes in mitral valve repair operations and $132.0{\pm}32.0$ minutes and $76.1{\pm}23.1$ minutes in myxoma removal operations, respectively. During atrial septal defect closure operations, the average cardiopulmonary bypass time was $128.3{\pm}43.1$ minutes. The median length of stay was between five and seven days. The only complication was that one patient needed reoperation to address bleeding. There were no hospital mortalities. Conclusion: Robot-assisted cardiac surgery is safe and effective for mitral valve repair, atrial septal defect closure, and cardiac myxoma removal surgery. Reducing operative time depends heavily on the experience of the entire robotic surgical team.

• Journal of Korean Neurosurgical Society
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• 제49권4호
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• pp.248-251
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• 2011

Objective : In the field of spinal surgery, a few laboratory results or clinical cases about robotic spinal surgery have been reported. In vivo trials and development of related surgical instruments for spinal surgery are required before its clinical application. We investigated the use of the da $Vinci^{(R)}$ Surgical System in spinal surgery at the craniovertebral junction in a human cadaver to demonstrate the efficacy and pitfalls of robotic surgery. Methods : Dissection of pharyngeal wall to the exposure of C1 and odontoid process was performed with full robotic procedure. Although assistance of another surgeon was necessary for drilling and removal of odontoid process due to the lack of appropriate end-effectors, successful robotic procedures for dural sutures and exposing spinal cord proved its safety and dexterity. Results : Robot-assisted odontoidectomy was successfully performed in a human cadaver using the da $Vinci^{(R)}$ Surgical System with few robotic arm collisions and minimal soft tissue damages. Da $Vinci^{(R)}$ Surgical System manifested more dexterous movement than human hands in the deep and narrow oral cavity. Furthermore, sutures with robotic procedure in the oral cavity demonstrated the advantage over conventional procedure. Conclusion : Presenting cadaveric study proved the probability of robot-assisted transoral approach. However, the development of robotic instruments specific to spinal surgery must first precede its clinical application.

• 제어로봇시스템학회논문지
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• 제1권2호
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• pp.127-134
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• 1995

For use in patients with severe forms of heart disease for which no surgical repair is possible, development of artificial hearts has many importance in point of economics, medical and industrial applications. To provide a sufficient cardiac output to the physiological demands of circulatory systems is the objective of control systems for an electromechanical artificial heart, which is based on the stable controller design for the motor in the artificial heart. In this paper, an implantable microcontroller-based brushless DC motor control system with the implantability, reliability, and stability is introduced. The developed control system for the artificial heart has the following advantages: (1) It is possible to be implanted in a body by realizing the fundamental functions such as a motor speed detection, proportional-intergral control, timer, and PWM generation through a software programming. (2) Thus, the power consumed in the controller is reduced. (3) The reliability and stability are improved through the reduction of electronic parts and line connetions at the controller. The performance of the artificial hearts and control system developed was evaluated through a series of mock circulatory experiments and a reliability test for one and half years. A sheep with the artificial heart and control system was survived for three days.

• 로봇학회논문지
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• 제12권1호
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• pp.26-32
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• 2017

Previous shape sensors including bend sensors and optic fiber based sensors are widely used in various applications including goniometer and surgical robots. But theses sensors have large nonlinearity, limited in the range of sensing curvature, and sometimes are expensive. This study suggests a new concept of bend sensor using cable-conduit which consists of the outer sheath and the inner wire. The outer sheath is made of helical coil whose length of the central line changes as the sheath bends. This length change of the central line can be measured with the length change of the inner cable. The modeling and the experimental results show that the output signal of the proposed sensor is linearly related with the bend angle of the sheath with root mean square error of 5.3% of $450^{\circ}$ sensing range. Also the polynomial calibration of the sensor can decrease the root mean square error to 2.1% of the full sensing range.

• 노인간호학회지
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• 제20권sup1호
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• pp.127-136
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• 2018

Purpose: The purpose of this study was to investigate the possibility of using intelligent robot based nursing practice as discussed in previous research and also, to propose directions for robot care for elders. Methods: For this study 28 previous researches using robots in health care field were reviewed and related research trends introduced. Results: Robot applications in the healthcare field were mainly for rehabilitation, surgery, interaction, and nursing assistance through robotics. Especially types of robot include pet type robots, humanoid robots, surgical robots, rehabilitation robots, robot suit and entertainment robots with monitors. The research participants were patients with dementia and institutionalized elderly people. It was found that a human-robot interaction was effective from physical, mental, emotional and social aspects. Conclusion: Robots can be used for various purposes such as nursing assistance, patient health promotion and education. It is necessary to reduce the human burden of care work using robots and to introduce robot care programs which can meet the needs of elders. Therefore, korean nurses should make efforts to change their practice to new geriatric nursing through repeated research based on the scientific data.