• 로봇학회논문지
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• 제16권1호
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• pp.64-71
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• 2021

This paper describes a robotic teleoperation system to perform an accurate needle insertion into a cornea for a separation between the stromal layer and Descemet's membrane during deep anterior lamellar Keratoplasty (DALK). The system can reduce the hand tremor of a surgeon by scaling the input motion, which is the control input of the slave robot. Moreover, we utilize corneal applanation to estimate the insertion depth. The proposed system was validated by performing the layer separation using 25 porcine eyes. The average depth of needle insertion was 742 ± 39.8 ㎛ while the target insertion depth was 750 ㎛. Tremor error was reduced from 402 ± 248 ㎛ in the master device to 28.5 ± 21.0 ㎛ in the slave robot. The rate of complete success, partial success, and failure were 60, 28, and 12%, respectively. The experimental results showed that the proposed system was able to reduce the hand tremor of surgeons and perform precise needle insertion during DALK.

• The Korean Journal of Pain
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• 제20권1호
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• pp.40-45
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• 2007

Background: Caudal block is useful when anesthesia for surgery or treatment for chronic pain is needed, but this procedure has a failure rate of up to 25% even when it performed byan experienced physician. This high failure rate is usually due to improper needle placement. Methods: After gaining approval of the ethics committee, 46 patients received caudal blocks under ultrasound guidance; these were performed after the anatomical structures in the sacral hiatus had been measured with ultrasound. All these procedures were performed by the same anesthesiologist. The position and direction of the needle were identified using fluoroscopy by injecting a radio-opaque contrast through the needle. The time taken from thelidocaine injection to verification of the needle was measured and the planned nerve block was then carried out. Results: All cases of needle insertion into the sacral canal under ultrasound guidance were successful. The average duration of the procedure and the trial count were $134.1{\pm}10.1seconds$ and $1.2{\pm}0.1$, respectively. In 12 of the 46 cases (26%), the needle deviated either left or right in the sacral canal, so the direction of the needle had to be adjusted. The distance between two cornua, the depth of the sacral hiatus and the thickness and length of the sacrococcygeal ligament were $17.1{\pm}0.4$, $3.9{\pm}0.3$, $2.3{\pm}0.1$ and $24.9{\pm}0.9mm$, respectively. Conclusions: Ultrasound guidance can increase the success rate of inserting a needle into the sacral canal. However, even when ultrasound is used, the needle can deviate either left or right in the sacral canal.

• Tuberculosis and Respiratory Diseases
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• 제56권6호
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• pp.628-637
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• 2004

연구배경 : 경피폐세침흡인생검술은 비교적 간편하고 안전한 검사이기 때문에 여러 가지 폐병변의 진단에 유용한 검사로 알려져 있으나 때때로 기흉 등의 합병증이 발생할 수 있다. 저자들은 경피폐세침흡인생 검술 후 발생하는 합병증의 빈도 및 합병증 중 제일 많은 부분을 차지하는 기흉의 위험인자를 알아보고자 하였다. 대상 및 방법 : 1988년에서 2002년 사이에 다양한 폐병변의 진단을 목적으로 경희의대부속병원 호흡기내과에서 경피폐세침흡인생검술을 시행 받은 403명을 대상으로 의무기록과 방사선검사결과를 후향적으로 검토하여 자료를 수집하였다. 결 과 : 총 403명의 환자들 중(남자 245명, 여자 158명) 209명이 악성질환으로, 194명이 양성질환으로 나타났으며, 평균연령은 $58.5{\pm}12.7$세였고, 검침의 평균 깊이는 $6.3{\pm}1.7cm$, 193명이 흡연자였다. 합병증으로는 기흉이 48명, 경미한 객혈이 4명으로 총 발생률은 12.9%였다. 48명의 환자 중 35명이 20% 미만의 기흉으로 산소공급만으로 치료를 받았고, 11명이 50% 이상의 심한 기흉으로 흉관삽입을 시행 받았으며 나머지 2명은 주사기 흡인으로 치료받았다. 기흉발생의 위험요인에 대한 다변량분석을 시행한 결과 병변의 크기와 위치, 검침의 위치, 병변의 진단 등은 관계가 없었으나 환자의 나이와 성별(p<0.05), 검침의 깊이(p<0.001)는 기흉의 발생과 밀접한 관계를 보였다. 흡연유무(p<0.005)뿐만 아니라 흡연량(p<0.001) 또한 기흉발생과 의미 있는 관계를 나타냈으며 각각 4.0%에서 23.1%까지 다양한 발생률을 보인 검사자도 기흉발생의 의미 있는 독립적 위험인자로 나타났다. 한편 산소공급만으로 치료받은 35명의 검침의 평균깊이는 $6.7{\pm}1.6cm$인데 비해 나머지 13명의 심한 기흉환자는 $8.2{\pm}1.2cm$로 검침의 깊이가 깊을수록 심한 기흉이 발생함을 알 수 있었다. 결 론 : 경피폐세침흡인생검은 합병증이 적은 비교적 안전한 검사이며 검사 후 발생하는 가장 흔한 합병증인 기흉의 독립적인 위험인자로는 환자의 나이와 성별, 검침의 깊이, 검사자, 흡연유무 및 흡연량 등이다.

• 대한한의학회지
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• 제35권3호
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• pp.70-92
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• 2014

Objectives: Due to advance of science and IT technology, high tech imaging equipment like ultrasonography, CT, MRI and PET scan is constantly being developed and progressed; use of these techniques is needed for Korean medicine. Methods: Historical study was undertaken on the evidence of using ultrasonography. Normal organs and various sorts of diseases were also observed by ultrasonography. Results: Korean medicine judges disease of internal organs and condition of health by symptoms of functional disease and organic disease based on anatomical theory. Ultrasonography based on anatomical theory is non-invasive and free from radiation exposure and can be performed directly from clinical practice in real-time. Ultrasonography can be a big help for securing the stability of the internal organs in inserting needles in the thorax and abdomen as well as diagnosing functional and organic diseases based on anatomical theory. Conclusion: We look forward to a great development of scientification and objectification of Korean medicine by using and researching imaging equipment based on anatomical theory as well as ultrasonography.