• Journal of Biomedical Engineering Research
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• v.29 no.1
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• pp.32-39
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• 2008

This paper reports on a realtime OS based master-slave configuration robot control system for laparoscopic surgery robot which enables telesurgery and overcomes shortcomings with conventional laparoscopic surgery. Surgery robot system requires control system that can process large volume information such as medical image data and video signal from endoscope in real-time manner, as well as precisely control the robot with high reliability. To meet the complex requirements, the use of high-level real-time OS (Operating System) in surgery robot controller is a must, which is as common as in many of modem robot controllers that adopt real-time OS as a base system software on which specific functional modules are implemened for more reliable and stable system. The control system consists of joint controllers, host controllers, and user interface units. The robot features a compact slave robot with 5 DOF (Degree-Of-Freedom) expanding the workspace of each tool and increasing the number of tools operating simultaneously. Each master, slave and Gill (Graphical User Interface) host runs a dedicated RTOS (Real-time OS), RTLinux-Pro (FSMLabs Inc., U.S.A.) on which functional modules such as motion control, communication, video signal integration and etc, are implemented, and all the hosts are in a gigabit Ethernet network for inter-host communication. Each master and slave controller set has a dedicated CAN (Controller Area Network) channel for control and monitoring signal communication with the joint controllers. Total 4 pairs of the master/slave manipulators as current are controlled by one host controller. The system showed satisfactory performance in both position control precision and master-slave motion synchronization in both bench test and animal experiment, and is now under further development for better safety and control fidelity for clinically applicable prototype.

• Korean Journal of Cognitive Science
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• v.20 no.2
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• pp.125-154
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• 2009

This paper describes the possibility of human physiological data, especially brain-wave activity, to detect cognitive overload, a phenomenon that may occur while learner uses an e-learning system. If it is found that cognitive overload to be detectable, providing appropriate feedback to learners may be possible. To illustrate the possibility, while engaging in cognitive activities, cognitive load levels were measured by EEG (electroencephalogram) to seek detection of cognitive overload. The task given to learner was a computerized listening and recall test designed to measure working memory capacity, and the test had four progressively increasing degrees of difficulty. Eight male, right-handed, university students were asked to answer 4 sets of tests and each test took from 61 seconds to 198 seconds. A correction ratio was then calculated and EEG results analyzed. The correction ratio of listening and recall tests were 84.5%, 90.6%, 62.5% and 56.3% respectively, and the degree of difficulty had statistical significance. The data highlighted learner cognitive overload on test level of 3 and 4, the higher level tests. Second, the SEF-95% value was greater on test3 and 4 than on tests 1 and 2 indicating that tests 3 and 4 imposed greater cognitive load on participants. Third, the relative power of EEG gamma wave rapidly increased on the 3rd and $4^{th}$ test, and signals from channel F3, F4, C4, F7, and F8 showed statistically significance. These five channels are surrounding the brain's Broca area, and from a brain mapping analysis it was found that F8, right-half of the brain area, was activated relative to the degree of difficulty. Lastly, cross relation analysis showed greater increasing in synchronization at test3 and $4^{th}$ at test1 and 2. From these findings, it is possible to measure brain cognitive load level and cognitive over load via brain activity, which may provide atimely feedback scheme for e-learning systems.