• Journal of Biomedical Engineering Research
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• v.31 no.5
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• pp.335-343
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• 2010

This article presents a review of technologies for an endoscope. The classification according to the clinical applications and the imaging modalities are summarized. The major parts are focused on describing the gastrointestinal endoscope's structures and mechanisms. The details of the image enhanced endoscopic techniques, such as NBI (narrow band imaging), OCT (optical coherence tomography), and EUS (endoscopic ultrasound), are also explained. Finally, the trend of NOTES (natural orifice transluminal endoscopic surgery) which is new fusion technology in the field of endoscopic diagnosis and surgery is introduced.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.839-843
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• 2001

For robotic endoscope, some researchers suggest pneumatic actuators based on inchworm motion. But, the existing endoscopes are not seemed to be replaced completely because human intestine is very sensitive and susceptible to damage. We design and test a new locomotion of robotic endoscope able to maneuver safely in the human intestine. The actuating mechanism is composed of two solenoids at each side and a single permanent magnet. When the current direction is reversed, repulsive force and attractive at the opposition side propels permanent magnet. Impact force against robotic endoscope transfer momentum from moving magnet to endoscope capsule. The direction and moving speed of the actuator can be controlled by adjusting impact force. Modeling and simulation experiments are carried out to predict the performance of the actuator. Simulation experiments show that force profile of permanent magnet is the dominant factor for the characteristic of the actuator. The results of simulations are verified by comparing with the experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.74.2-74
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• 2001

The availability of endoscope has been increased not only for observing inner parts of body but also for operating. Nowdays, the market of the endoscope has been widely extended and we presume that the value of marketablity will reach to wide. Most of the endoscope equipment is very expensive and as well, it costs a lot to repair or change the specific parts of equipment when it´s out of order on account of carelessness. About 90 percent of the endoscope equipment in the world is made in Japan. Therefore, to buy or repair the equipment, we can´t help outflowing foreign currency. In domestic, the efforts for localization and manufacturing the endoscope equipment are short. This paper shows that captured image from a CCD miniature carema is managed ...

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.3
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• pp.220-225
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• 2002

In this paper, we suggest a new locomotive mechanism fur self-propelling robotic endoscope which could substitute conventional endoscope. Many researchers proposed inchworm-like mechanism for self-propelling robotic endoscope. But it could not be commercialized because they did not solve the limitation caused by clamping. Therefore, we suggest a new radial-type locomotive mechanism with worm. It can propel itself in any situation and take passive-steering because of radial type. In addition, it can be miniaturized with worm. In this paper, we evaluate the mechanism in the dead pig colon as well as under various environments, and verify the performance fur robotic endoscope.

• Proceedings of the IEEK Conference
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• 2003.11a
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• pp.115-118
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• 2003

In this paper we implemented a field-sequential stereoscopic endoscope system that can generate stereoscopic images with different perspective depth using LCD stutter. Re stereoscopic image is generated from stereoscopic adapter that has LCD shutter. We have compared the stereoscopic depth of a field-sequential stereoscopic endoscope system with that of the conventional endoscope system. And the implemented system is verified by evaluation the field-sequential stereoscopic image on a Monitor. This system will be use to medical instruments in time.

• Proceedings of the IEEK Conference
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• 2003.11a
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• pp.111-114
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• 2003

In this paper, an industrial electric endoscope is implemented. Most industrial endoscope that used in domestic are imported and the equipments are divided into several parts. So these endoscopes spend a lot of time, labor and inspection cost on inspection process. This research is accomplished to solve above mentioned weak points and to improve previous inspection systems into embedded systems.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.17-22
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• 2002

Endoscopes for industrial and medical fields are expected to have multi degree-of-freedom (DOF) motions. A multi-DOF ultrasonic motor we developed consists of a spherical rotor and a bar-shaped stator, and the rotor rotates around three perpendicular axes using three natural vibration modes of the stator. In this study, a multi-DOF unilateral master-slave system for active endoscope using the multi-DOF ultrasonic motor is developed. The configurations of master and slave arms for active endoscope are similar, so that an operator can easily handle the master-slave system. First, driving characteristics of the multi-DOF ultrasonic motor are measured in order to design the slave arm and its controller. Next, the master arm and the slave arm are designed. Then, the unilateral feedback controller for the master-slave system is developed. Finally, the motion control tests of rotor are conducted. As a result, the possibility of the endoscope is confirmed.

• Proceedings of the KOSOMBE Conference
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• v.1997 no.05
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• pp.345-348
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• 1997

Endoscope image is the shape that a doctor sees inside of patient through endoscope. The characteristics of these images are much effected by the light source of endoscope, specially areas in short distance from a light have much light source and look clear, but areas in long distance from a light look dark relatively because of little light quantity. So we developed a new level adaptive image enhancer for the dark area in a endoscope image. The algorithm we made consists of three parts ; 1) Classification of histogram in segmented area 2) Smoothing and Adaptive Histogram Equalization 3) Adaptive Histogram Modification.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1328-1331
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• 2003

As rates of gastric cancer. fatness. and GERD (chronic gastric esophageal reflux disease) patients have been increased in the world, suturing mechanism using endoscope has been focused. which is the medical instrument to apply stitches and suturing inside the body, since it helps the patients lessen pains and reduce operation time. This paper deals with mechanism design, which makes it possible to apply multiple suturing without the repeat of inserting and removing the endoscope. This successive suture mechanism includes gripper, linkage, rotational part, and articulation part. Also, the mechanism is operated through 4mm one-side channel attached to the endoscope by means of pulling wires.

• Journal of Biomedical Engineering Research
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• v.14 no.3
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• pp.243-250
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• 1993

An endoscope is a medical device which observes the inner surface of an organ inside a body. Recently, a new type of endoscope using a CCD image sensor has been developed and turned out to have many strong points over the conventional optical fiber endoscope system. A swallowable insertion tube is an insertion tube having so small a diameter that the head of the insertion tube can reach the end of stomach only by mechanical movement of the esphagus and stomach or the patient's external movement. This paper presents some of the results that the Institute of Biomedical Engineering at Seoul National University has obtained while developing an electronic endoscope having a swallowable insertion tube. After some of the features of the developed system are presented, some of the image processing techniaues are addressed.