• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.309-315
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• 2020

This study shows a control strategy that acquires both precision and manipulation sensitivity of remote center motion with manual traction for a surgical assistant robot. Remote center motion is an essential function of a laparoscopic surgical robot. The robot has to keep the position of the insertion port in a three-dimensional space, and general laparoscopic surgery needs 4-DoF (degree-of-freedom) motions such as pan, tilt, spin, and forward/backward. The proposed robot consists of a 6-axis collaborative robot and a 2-DoF end-effector. A 6-axis collaborative robot performs the cone-shaped trajectory with pan and tilt motion of an end-effector maintaining the position of remote center. An end-effector deals with the remaining 2-DoF movement. The most intuitive way a surgeon manipulates a robot is through direct teaching. Since the accuracy of maintaining the remote center position is important, direct teaching is implemented based on position control in this study. A force/torque sensor which is attached to between robot and end-effector estimates the surgeon's intention and generates the command of motion. The predefined remote center position and the pan and tilt angles generated from direct teaching are input as a command for position control. The command generation algorithm determines the direct teaching sensitivity. Required torque for direct teaching and accuracy of remote center motion are analyzed by experiments of panning and tilting motion.

• Journal of Korean Neurosurgical Society
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• v.30 no.2
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• pp.131-136
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• 2001

Object : The clinical uses of screws are increasing with broader applications in spinal disorders. When screws are inserted repeatedly to achieve optimal position, tips of screw pitch may become damaged during insertion even though there are significant differences in the moduli of elasticity between bone and titanium. The effect of repeated screw insertion on pullout resistance was investigated. Methods : Three different titanium screws(cortical lateral mass screw, cancellous lateral mass screw and cervical vertebral body screw) were inserted into the synthetic cancellous material and then extracted axially at a rate of 2.4mm/min using Instron(Model TT-D, Canton, MA). Each set of screws was inserted and pulled out three times. There were six screws in each group. The insertional torque was measured with a torque wrench during insertion. Pullout strength was recorded with a digital oscilloscope. Results : The mean pullout force measurements for the cortical lateral mass screws($185.66N{\pm}42.60$, $167.10N{\pm}27.01$ and $162.52 N{\pm}23.83$ for first, second and third pullout respectively : p=0.03) and the cervical vertebral body screws($386.0N{\pm}24.1$, $360.2N{\pm}17.5$ and $330.9N{\pm}16.7$ : p=0.0024) showed consecutive decrease in pullout resistance after each pullout, whereas the cancellous lateral mass screws did not($194.00N{\pm}36.47$, $219.24N{\pm}26.58$ and 199.49N(36.63 : p=0.24). The SEM after insertion and pullout three times showed a blunting in the tip of the screw pitch and a smearing of the screw surface. Conclusions : Repetitive screw insertion and pullout resulted in the decrease of pullout resistance in certain screws possibly caused by blunting the screw tip. This means screw tips suffer deformations during either repeated insertion or pullout. Thus, the screws that have been inserted should not be used for the final construct.

• The Journal of Korean Academy of Prosthodontics
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• v.56 no.2
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• pp.105-113
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• 2018

Purpose: The purpose of this study was to investigate the effects of the insertion depth of an immediately loaded implant on the stress distribution of the surrounding bone and the micromovement of the implant using the three-dimensional finite element analysis. Materials and methods: A total of five bone models were constructed such that the implant platform was positioned at the levels of 0.00 mm, 0.25 mm, 0.50 mm, 0.75 mm, and 1.00 mm depth from the crest of the cortical bone. A frictional coefficient of 0.3 and the insertion torque of 35 Ncm were simulated on the interface between the implant and surrounding bone. A static load of 178 N was applied to the provisional prosthesis with a vertical load in the axial direction and an oblique load at $30^{\circ}$ with respect to the central axis of the implant, then a finite element analysis was performed. Results: The implant insertion depth significantly affected the stress distribution on the surrounding bone. The largest micromovement value of the implant was $39.34{\mu}m$. The oblique load contributed significantly to the stress distribution and micromovement in comparison to the vertical load. Conclusion: Increasing the implant insertion depth was advantageous in dispersing the concentrated stress in the cortical bone and did not significantly affect the micromovement associated with early osseointegration failure.

• The korean journal of orthodontics
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• v.42 no.1
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• pp.4-10
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• 2012

Objective: To determine the effect of surface anodization on the interfacial strength between an orthodontic microimplant (MI) and the rabbit tibial bone, particularly in the initial phase aft er placement. Methods: A total of 36 MIs were driven into the tibias of 3 mature rabbits by using the self-drilling method and then removed aft er 6 weeks. Half the MIs were as-machined (n = 18; machined group), while the remaining had anodized surfaces (n = 18; anodized group). The peak insertion torque (PIT) and the peak removal torque (PRT) values were measured for the 2 groups of MIs. These values were then used to calculate the interfacial shear strength between the MI and cortical bone. Results: There were no statistical differences in terms of PIT between the 2 groups. However, mean PRT was significantly greater for the anodized implants ($3.79{\pm}1.39$ Ncm) than for the machined ones ($2.05{\pm}1.07$ Ncm) (p < 0.01). The interfacial strengths, converted from PRT, were calculated at 10.6 MPa and 5.74 MPa for the anodized and machined group implants, respectively. Conclusions: Anodization of orthodontic MIs may enhance their early-phase retention capability, thereby ensuring a more reliable source of absolute anchorage.

• The Journal of Korean Academy of Prosthodontics
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• v.35 no.3
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• pp.557-565
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• 1997

Screw-shaped implants of commercially pure (c.p.) titanium, c.p. niobium, c.p. zirconium, and stainless steel(Sus 304) were inserted in the rabbit tibial bone over 12 weeks of follow-up. New developed torque gauge instrument was used to evaluate the implant holding power and a image analysis program coupled to a microscope was used for histomorphometry. The three best consecutive threads of each implant were measured. Quantitative analyses at 12 weeks revealed a partial bone contact to the four kinds investigated metals. There were no obvious adverse tissue reactions to any of the biomaterials. At 12 weeks the average removal torques for titanium, niobium and zirconium were better than that needed for Sus 304 screws, on the other hand high score of bony contact ratio of titanium and niobium were showed in comparison to those of zirconium and Sus 304. There was no significant differences in the amount of interfacial bone of zirconium and Sus 304 whereas there was significant difference in the torque forces of niobium and Sus 304. Three months after implant insertion, the average removal torque was 6.64 Ncm for the titanium, 6.57 Ncm for the niobium, 6.38 Ncm for the zirconium, and 4.25 Ncm for the Sus 304. On average bone contacts there were 51.24% in the titanium, 48.19% in the niobium, 31.79% in the zirconium, 23.54% in the Sus 304. Biocompatibility of the titanium, niobium and zirconium was acceptable level in comparison to the Sus 304.

• The korean journal of orthodontics
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• v.37 no.6
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• pp.400-406
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• 2007

The purpose of this experimental study was to evaluate the effect of immediate orthodontic loading on the stability at the bone-implant interface of titanium miniscrews in a rabbit model. Methods: Forty titanium miniscrews (1.6 mm diameter, 8 mm length) were inserted in the tibiae of 10 rabbits. Twenty test group miniscrews were subjected to continuous orthodontic forces of 200g immediately after implantation for a period of 6 weeks. The remaining 20 control group miniscrews were left unloaded for the same follow-up interval. Removal torque values were recorded using a digital torque gauge. An independent t-test was performed. Results: All the miniscrews were stable, and exhibited no mobility or displacement throughout the experimental period. Histologically, miniscrews were well-integrated into bone. No statistically significant differences in removal torque data were found between the loaded test and the unloaded control groups. Conclusions: These findings suggest that titanium miniscrews can be used as anchoring units for orthodontic tooth movement immediately after insertion.

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
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• v.42 no.6
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• pp.352-357
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• 2016

Objectives: This study aimed to evaluate the stability of prosthetic screws from three types of craniofacial prostheses retention systems (bar-clip, ball/O-ring, and magnet) when submitted to mechanical cycling. Materials and Methods: Twelve models of acrylic resin were used with implants placed 20 mm from each other and separated into three groups: (1) bar-clip (Sistema INP, São Paulo, Brazil), (2) ball/O-ring (Sistema INP), and (3) magnet (Metalmag, São Paulo, Brazil), with four samples in each group. Each sample underwent a mechanical cycling removal and insertion test (f=0.5 Hz) to determine the torque and the detorque values of the retention screws. A servo-hydraulic MTS machine (810-Flextest 40; MTS Systems, Eden Prairie, MN, USA) was used to perform the cycling with 2.5 mm and a displacement of 10 mm/s. The screws of the retention systems received an initial torque of 30 Ncm and the torque values required for loosening the screw values were obtained in three cycles (1,080, 2,160, and 3,240). The screws were retorqued to 30 Ncm before each new cycle. Results: The sample was composed of 24 screws grouped as follows: bar-clip (n=8), ball/O-ring (n=8), and magnet (n=8). There were significant differences between the groups, with greater detorque values observed in the ball/O-ring group when compared to the bar-clip and magnet groups for the first cycle. However, the detorque value was greater in the bar-clip group for the second cycle. Conclusion: The results of this study indicate that all prosthetic screws will loosen slightly after an initial tightening torque, also the bar-clip retention system demonstrated greater loosening of the screws when compared with ball/O-ring and magnet retention systems.

• Proceedings of the KIEE Conference
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• 2008.04c
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• pp.65-67
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• 2008

An adaptive response surface method with Latin Hypercube sampling strategy is employed to optimize a magnet pole shape of large scale BLDC motor to minimize the cogging torque. The proposed algorithm consists of the multi-objective Pareto optimization and ($1+{\lambda}$) evolution strategy to find the global optimal points with relatively fewer sampling data. In the adaptive RSM, an adaptive sampling point insertion method is developed utilizing the design sensitivities computed by using finite element method to set a reasonable response surface with a relatively small number of sampling points. The developed algorithm is applied to the shape optimization of PM poles for 6MW BLDC motor.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2005.11a
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• pp.426-430
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• 2005

The COMS(Communication, Ocean and Meteorological Satellite) is the first developed three-axis stabilization multi-function satellite on geostationary earth orbit(GEO) in korea, presently scheduled to be launched in 2008. The COMS propulsion system provides the thrust and torque required for the insertion into GEO, attitude and orbit control/adjustment of spacecraft. In this paper, system design of propulsion system, basic functions and design requirement of components are described.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.31 no.11
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• pp.125-132
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• 1982

This paper analyzes the transient control characteristics of power system by dynamic braking. This method, one type of network switching, employs the injection of controllable shunt resistors at or near the generator bus after the disturbances. First, the power system is simulated mathematically for applying the dynamic braking. And the electrical transient control characteristics are considered by controlling the brake size and insertion time. Second, the mechanical torque of turbine-generator is calculted for the mechanical characteristics. This analysis results show that the electrical characteristics are improved but the turbine-generator shaft is impacted by brake switching. However, these problems can be solved by controlling the brake dynamically.