• Journal of the Korea Computer Graphics Society
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• v.27 no.5
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• pp.63-71
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• 2021

Among drone autonomous flight technologies, obstacle avoidance is a very important technology that can prevent damage to drones or surrounding environments and prevent danger. Although the LiDAR sensor-based obstacle avoidance method shows relatively high accuracy and is widely used in recent studies, it has disadvantages of high unit price and limited processing capacity for visual information. Therefore, this paper proposes an obstacle avoidance algorithm for drones using camera-based PPO(Proximal Policy Optimization) reinforcement learning, which is relatively inexpensive and highly scalable using visual information. Drone, obstacles, target points, etc. are randomly located in a learning environment in the three-dimensional space, stereo images are obtained using a Unity camera, and then YOLov4Tiny object detection is performed. Next, the distance between the drone and the detected object is measured through triangulation of the stereo camera. Based on this distance, the presence or absence of obstacles is determined. Penalties are set if they are obstacles and rewards are given if they are target points. The experimennt of this method shows that a camera-based obstacle avoidance algorithm can be a sufficiently similar level of accuracy and average target point arrival time compared to a LiDAR-based obstacle avoidance algorithm, so it is highly likely to be used.

• The Korean Journal of Pain
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• v.11 no.2
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• pp.220-225
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• 1998

Background: The patients of facial hyperhidrosis have been known that they had much difficulties in interpersonal relationships and social activities due to excessive hidrosis when they were in stress, hot weather, or having meals. Previous drug therapy and stellate ganglion block have only temporary effects. The surgical method, $T_1$ sympathetomy has the risk of Hornor's syndrome. For that reasons, the sympathicotomy of proximal and distal portions of $T_2$ sympathetic ganglion with electroresectoscope used in transurethral resection seemed to be appropriate procedure, and we would like to report the results of our procedure. Method: Under the general anesthesia with semi-sitting position, and the portal was made through the small incision along the upper border of the 4th rib at the crossing point of mid-axillary line. After the partial collapse of lung by insufflation of 300 to 500 ml of $CO_2$, $T_2$ sympathetic ganglion was identified and resected proximally and distally with electro-cauterization. Finally the lung was expanded by limiting flow until the airway pressure reached 30 to 40 cm$H_2O$, and the wound was closed after removal of electroresectoscope. Result: There was no postoperative complication requiring surgical interventions. The facial sweating was stopped immediately after the operation and all the patients appeared to be satisfied. Conclusion: $T_2$ sympathicotomy with TUR electroresectoscope is thought be the minimal invasive and highly successful method in the treatment of facial hyperhidrosis. But longer terms follow-up will be needed to prove this result.

• Korean Journal of Applied Biomechanics
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• v.30 no.1
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• pp.103-109
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• 2020

Objective: The purpose of this study is to compare the muscle activity by electrode location in the biceps brachii during the arm curl isometric exercise and to provide the basic data needed to develop the proper electrode location of the biceps brachii based on the study results comparing the muscle activity by the angle of the elbow joint. Method: 17 adult males (Age: 21.50±4.63 yrs, height: 175.29±5.97 cm, weight: 63.79±15.31 kg, upper-arm length: 30.10±1.22 cm) participated in the study. In the arm curls isometric exercise, the experiment was divided into 1st and 2nd steps to compare muscle activity according to electrode location in the biceps brachii and muscle activity according to elbow angle change. In the first experiment, the surface electrode was attached at one-third point on the line from medial acromion to cubital fossa, according to the measurement method indicated by SENIAM. The elbow angle was set to 90°. In the second experiment, according to the proposed method of this study, the electrodes were separated at one finger's width in the left and right direction at one-third point on the line from medial acromion to cubital fossa, attached at the long head and short head. From the long head electrode, in about a width of two fingers in proximal direction, a total of three electrodes were attached at the myotendinal junction of the long head. The elbow angles were set as 70°, 90°, and 110°, and the isometric exercise (100% MVC) for 5 seconds was maintained with keeping the forearm and the rope to be 90° for the first and second experiments. Results: During the arm curl isometric exercise, there was no significant difference in SH and SENIAM proposition location proposed by this researcher. LH was shown to be lower than the muscle activity of the location proposed by SENIAM and there were significant (p<.01) differences. MJ appeared lower than the muscle activity of the location proposed by SENIAM and there were significant (p<.001) differences. The muscle activity by the elbow joint angle of SH in the biceps brachii was shown in large order of 70°<90°<110°, but there was no significant difference. The muscle activity by the elbow joint angle of LH was shown in large order of 90°<70°<110°, but there was no significant difference. The muscle activity by the elbow joint angle of MJ was shown in large order of 110°<90°<70°, but there was no significant difference. Conclusion: During the arm curl isometric exercise of the biceps brachii, it is judged appropriate to attach surface electrodes to the location proposed by SENIAM.

• Archives of Plastic Surgery
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• v.35 no.5
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• pp.533-538
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• 2008

Purpose: Sensory changes in the upper limb are complications of a mastectomy with immediate breast reconstruction with the treatment of breast cancer. The purpose of this study is to clarify whether immediate breast reconstruction worsens the sensory changes. Methods: From March 2004 to December 2005, 20 patients who had a mastectomy with immediate breast reconstruction(reconstruction group) were compared with 23 patients who had a mastectomy alone(control group). All patients had stage I or II breast cancer. The sensory changes were assessed in a blind manner by one examiner that used light touch sensation, static two-point discrimination, pain, vibration, hot and cold temperature perception. The sensory changes were identified along the sensory dermatome for diagnosing the damaged nerves. The following factors and their relationship with the sensory changes were analyzed : age, complications, and the mastectomy method. Results: There was no statistical difference in the static two-point discrimination, pain, vibration, hot and cold temperature perception between the two groups. However, the ability to recognize light touch was significantly better(p=0.045) in the reconstruction group than in the control group. The main site of sensory change was the proximal and medial portion of the upper limb in both groups. At these sites, the mean value of Semmes-Weinstein monofilament was $1.01g/mm^2$(reconstruction group 0.82, control group 1.17) and 2-point discrimination was 51.74(converted to perfect score of 100; reconstruction group 42.50, control group 59.78). The total rate of early complications was found to be significantly lower(p=0.006) in the reconstruction group than in the control group. Conclusion: These findings suggest that an immediate breast reconstructive procedure following a mastectomy is as safe as or safer than a mastectomy alone with respect to postoperative sensory changes of the ipsilateral upper limb.

• The Journal of Korean Society for Radiation Therapy
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• v.29 no.2
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• pp.101-108
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• 2017

Purpose: The proton used in proton therapy has a characteristic of giving a small dose to the normal tissue in front of the tumor site while forming a Bragg peak at the cancer tissue site and giving up the maximum dose and disappearing immediately. It is very important to verify the proton arrival position. In this study, we used the off-line PET CT method to measure the distribution of positron emitted from nucleons such as 11C (half-life = 20 min), 150 (half-life = 2 min) and 13N The range and distal falloff point of the proton were verified by measurement. Materials and Methods: In the IEC 2001 Body Phantom, 37 mm, 28 mm, and 22 mm spheres were inserted. The phantom was filled with water to obtain a CT image for each sphere size. To verify the proton range and distal falloff points, As a treatment planning system, SOBP were set at 46 mm on 37 mm sphere, 37 mm on 28 mm, and 33 mm on 22 mm sphere for each sphere size. The proton was scanned in the same center with a single beam of Gantry 0 degree by the scanning method. The phantom was scanned using PET-CT equipment. In the PET-CT image acquisition method, 50 images were acquired per minute, four ROIs including the spheres in the phantom were set, and 10 images were reconstructed. The activity profile according to the depth was compared to the dose profile according to the sphere size established in the treatment plan Results: The PET-CT activity profile decreased rapidly at the distal falloff position in the 37 mm, 28 mm, and 22 mm spheres as well as the dose profile. However, in the SOBP section, which is a range for evaluating the range, the results in the proximal part of the activity profile are different from those of the dose profile, and the distal falloff position is compared with the proton therapy plan and PET-CT As a result, the maximum difference of 1.4 mm at the 50 % point of the Max dose, 1.1 mm at the 45 % point at the 28 mm sphere, and the difference at the 22 mm sphere at the maximum point of 1.2 mm were all less than 1.5 mm in the 37 mm sphere. Conclusion: To maximize the advantages of proton therapy, it is very important to verify the range of the proton beam. In this study, the proton range was confirmed by the SOBP and the distal falloff position of the proton beam using PET-CT. As a result, the difference of the distally falloff position between the activity distribution measured by PET-CT and the proton therapy plan was 1.4 mm, respectively. This may be used as a reference for the dose margin applied in the proton therapy plan.

• Applied Microscopy
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• v.14 no.2
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• pp.81-93
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• 1984

Structural differences in various divisions of the rabbit colon were investigated using light and scanning electron microscopy. For light microscopic study, various Portions of the colon from seven rabbits (2.5 kg body weight) were fixed in 10% neutral buffered formalin, and paraffin sections were stained with hematoxylin-eosin. Tissues for scanning electron microscopy were fixed in 1% glutaraldehyde-1.5% paraformaldehyde and postfixed in 1% $OsO_4$, dehydrated to 100% alcohol, transfered to isoamilacetate and dried by the critical point method. Subsequently, specimens were coated with gold and viewed with a JSM-35C scanning electron microscope. The colon displays a morphological diversity along its proximo-distal axis. Five regions can be discerned based on the macroscopic and microscopic characteristics. 1) The first segment immediately distal to the cecocolical junction possessing three teniae is approximately 5 cm ($4{\sim}6cm$) in length, and displays irregular folds of the mucosa oriented transversely similar to those of the cecum. 2) The second segment possessing three teniae is about 7 cm ($5{\sim}8cm$) in length, and is characterized by the papilla-like protrusions on the mucosal surface. 3) The third segment, possessing a single tenia is about 16 cm ($12{\sim}20cm$) in length, and also displays the papilla-like protrusions similar to the aforegoing segment. 4) Fusus coli, approximately 4 cm ($3{\sim}5cm$) in length, is free of teniae and exhibits longitudinal folds on the mucosal surface. These four portions together constitute the proximal colon. 5) The distal colon reaches a length of about 58 cm ($53{\sim}55cm$) and shows a pattern of surface irregularities with minor ridges on the mucosal folds.

• Archives of Reconstructive Microsurgery
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• v.21 no.1
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• pp.1-7
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• 2012

Purpose: This retrospective study was to determine the functional results of patients who were amputated of their fingertip between patients who were treated with replantation and patients who were treated with thenar flap. Materials and Methods: From 2004 to 2007, we identified and operated 159 patients who were diagnosed with fingertip amputations. Of 159 patients, Eighty-two patients were treated by replantation (67 in men and 14 in women) and the mean age at the operation was 41 years (range, 15-68 years). Seventy-nine patients was treated with thenar flap(54 in men and 25 in women) and the mean age at the operation was 43 years(range, 21-70 years). We compared variables between two groups including, age, gender, diagnosis, duration of hospital admission, grip strength, two-point discrimination, Semmes Weinstein monofilament test, active range of motion (ROM) of the proximal and distal interphalangeal (PIP and DIP) joint, pain (or tenderness), paresthesia, cold intolerance, the Disabilities of the Arm, Shoulder, and Hand (DASH) questionnaire, and finger for activities of daily living (ADLs). Results: The duration of admission was longer in Replantation group than in Thenar flap group(p=0.001). However, the grip strength (p=0.003) and Semmes Weinstein monofilament test (p=0.029) in the Replanation group were statistically superior to the Thenar flap group. The average DASH disability (p=0.003)/symptom score (p=0.007) and ADLs (p<0.001) in the Replantation group was statistically better. In addition, cold intoleranace test of Thenar flap group is worse than the Replantation group. Conclusion: This study demonstrate that fingertip replantation have demonstrated not only to obtain the best appearance but also to gain better functional outcome. However, it is impossible to perform replatation, the thenar flap can be limited alternative method for fingertip amputation in aspect of preservation of range of motion and hospitalization time.

• Archives of Plastic Surgery
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• v.39 no.2
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• pp.138-142
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• 2012

Background : Electrical burns are one of the most devastating types of injuries, and can be characterized by the conduction of electric current through the deeper soft tissue such as vessels, nerves, muscles, and bones. For that reason, the extent of an electric burn is very frequently underestimated on initial impression. Methods : From July 1999 to June 2006, we performed 15 cases of toe tissue transfer for the reconstruction of finger defects caused by electrical burns. We performed preoperative range of motion exercise, early excision, and coverage of the digital defect with toe tissue transfer. Results : We obtained satisfactory results in both functional and aesthetic aspects in all 15 cases without specific complications. Static two-point discrimination results in the transferred toe cases ranged from 8 to 11 mm, with an average of 9.5 mm. The mean range of motion of the transferred toe was $20^{\circ}$ to $36^{\circ}$ in the distal interphalangeal joint, $16^{\circ}$ to $45^{\circ}$ in the proximal interphalangeal joint, and $15^{\circ}$ to $35^{\circ}$ in the metacarpophalangeal joint. All of the patients were relatively satisfied with the function and appearance of their new digits. Conclusions : The strategic management of electrical injury to the hands can be both challenging and complex. Because the optimal surgical method is free tissue transfer, maintenance of vascular integrity among various physiological changes works as a determining factor for the postoperative outcome following the reconstruction.

• Journal of the East Asian Society of Dietary Life
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• v.4 no.3
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• pp.21-30
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• 1994

The relationship between bone mineral density and the environmental factors were investigated from the view point of preventing osteoporosis in Korean pubescent girls. The effects of calcium, nutrient intake, physical activity on total bone mineral density, lumbar spine and femoral bone mineral density and total bone mineral content were evaluated 33 healthy pubescent girls aged 14∼16y. A convenient method was used to assess nutritional and energy intake and calcium index was used together. Calcium intake in childhood was estimated by asking whether subjects usually drank milk as children. Eating habits data and history of menstruation were obtained by questionnaire and interview. Average energy expenditure was calculated. Bone mineral density and content were measured by dual energy x-ray absorptiometry using a Lunar DPX＋Scanner (Lunar, Madison, WI). The lumbar spine(L2∼L4) and three sites in the proximal femur (femoral neck, trochanteric region, and Ward's triangle)were measured. Height and weight were measured, and the body mass index(BMI) was derived from the formula : BMI=kg/㎡ Statistical analysis was performed by simple correlation using the SAS package. The mean calcium intake (736mg) was below the RDA of 800mg/d. Twelve percent of the total subjects did not drink milk at all because they did not like the taste. Skipping meals, low calcium intake and low energy intake were significantly correlated with the low BMD. Also the data indicate that girls who reported drinking milk with every meal during childhood had significantly higher bone densities than girls who reported drinking milk less frequently. The results suggest that milk consumption in childhood appears to be needed not only for growth and development, but possibly also to assure an optimal peak of bone mass and thus greater latitude for the maintenance or skeletal integrity in the face of bone losses. There was a highly significant correlation between the total BMD and overall level of physical activity. Body weight was a better predictor of total BMD than was and other factor. Simple mechanical loading may explain why body weight, but total BMC was positively relatd to height. Conclusively, increasing calcium intake and physical activity in the pubescent girls could influence BMD.

• Archives of Reconstructive Microsurgery
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• v.16 no.2
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• pp.125-132
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• 2007

Introduction: Ulna is nearly equal to radius in function and bony architecture and strength in forearm. But in lower extremity, fibula is 1/5 of tibia in anatomic and functional point so we can find fibula transposition is commonly used in defect of tibia. We cannot find other article about segmental forearm bone transposition in man. The purpose of this study was to report our clinical and functional result of undergoing segmented transposition of ipsilateral ulna with its own vascular supply in defect of radius in 6 cases. Material and method: From June 1994 to October 2007, 7 segmented bone transpositional grafts in forearm were performed in Kyung Hee Medical Center. The distribution of age was from 20 years old to 73 years old. There was male in 6 cases and female in 1 case. The causes of operation were giant cell tumor in 1 case and traumatic origin in 6 cases; it was nonunion in 2 cases and fracture with severe comminution in 4 cases. Ipsilaterally segmented ulna keeping its own vascular supply was transported to defect of radius in severe traumatic patients and one patient whose tumor in radius had been excised. Transported ulna was fixed to proximal and distal radius remnants by plate and screw. In one case with giant cell tumor, transported ulna was connected to radius across wrist joint as wrist joint fusion. Joint preserving procedures were performed in 6 cases with crushing injury of radius. Results: We could obtain solid bony union in all cases and good functional results. The disadvantage was relative shortening of forearm, but we could overcome this problem. Conclusion: We think that ipsilateral segmented ulna transposition keeping its own vascular supply to radius can be perfomed with one of procedures in cases with wide defect in radius.