• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.283-284
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• 2011

• 한국정밀공학회지
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• 제28권9호
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• pp.1048-1053
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• 2011

Recently, robots have been used in surgical area. Robotic surgery in Minimally Invasive Surgery gives many advantages to surgeons and patients both. This study introduce a robotic assistant to improve the safety of telerobotic Minimally Invasive Surgical procedures. The master-slave system is applied to the telerobotic surgical system with the master arm, which control the system, and slave robot which operates the surgery on the patient body. By using a 3-DOF master arm, the surgeon can control the 6-DOF surgical robot under the constraint of fulcrum point. This paper explains the telerobotic surgical system and confirms the system with the precision of the robot control related to the fulcrum point to enhance the safety.

• Journal of Chest Surgery
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• 제54권4호
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• pp.319-324
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• 2021

Robotic thymectomy has been adopted recently and has been shown to be safe and feasible in treating thymic tumors and myasthenia gravis. The surgical indications of robotic technology are expanding, with advantages including an excellent surgical view and sophisticated manipulation. Herein, we describe technical aspects, considerations, and outcomes of robotic thymectomy.

• Journal of Chest Surgery
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• 제43권5호
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• pp.557-561
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• 2010

중증 근무력증의 치료법으로서 흉선절제술은 효과가 입증된 표준 치료법 중 하나로 받아들여지고 있다. 흉선절제 수술법은 종래에 시행되던 흉골절개나 혹은 다른 개흉 수술법에 반해 최근 최소 침습 수술법이 시도되고 있다. 증례는 28세 남자로, 양손의 위약감 및 피로감을 호소하여 검사 결과 흉선 과형성을 동반한 중증 근무력증으로 진단하였고, da Vinci 로봇을 이용하여 흉선절제술을 시행하였다. 수술은 좌우 흉강을 통해 양측으로 접근하여, 우측에서 흉선의 2/3를 절제하고 좌측에서 나머지를 절제하였으며, 소요시간은 각각 1시간, 30분이었다. 환자는 술후 8일째 합병증 없이 퇴원하였다. 최소 침습 흉선절제술로서 da Vinci 로봇을 이용한 수술법이 국외에서 시도되고 있지만 국내에는 아직 보고된 바가 없어, 본원에서 수행한 성공적인 경험을 보고하는 바이다.

• Archives of Plastic Surgery
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• 제49권1호
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• pp.29-33
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• 2022

The application of minimal invasive mastectomy has allowed surgeons to perform nipples-paring mastectomy via a shorter, inconspicuous incision under clear vision and with more precise hemostasis. However, it poses new challenges in microsurgical breast reconstruction, such as vascular anastomosis and flap insetting, which are considerably more difficult to perform through the shorter incision on the lateral breast border. We propose an innovative technique of transcutaneous medial fixation sutures to help in flap insetting and creating and maintaining the medial breast border. The sutures are placed after mastectomy and before flap transfer. Three 4-0 nylon suture loops are placed transcutaneously and into the pocket at the markings of the preferred lower medial border of the reconstructed breast. After microvascular anastomosis and temporary shaping of the flap on top of the mastectomy skin, the three corresponding points for the sutures are identified. The three nylon loops are then sutured to the dermis of the corresponding medial point of the flap. The flap is placed into the pocket by a simultaneous gentle pull on the three sutures and a combined lateral push. The stitches are then tied and buried after completion of flap inset.

• Journal of Digestive Cancer Research
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• 제4권2호
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• pp.99-106
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• 2016

Minimally invasive surgery for gastric cancer has increased in popularity during the last two decades mainly in the Asia for patients with early-stage cancer. Nevertheless, the development of laparoscopic surgery for gastric cancers in the Western world has been slow because of the advanced stage at diagnosis for which LG is not yet considered an acceptable alternative to standard open surgery. RAG has been reported as a safe alternative to conventional surgery for treating of early gastric carcinoma. We assess the current status of robotic surgery in the treatment of gastric cancer focusing on the technical details, postoperative outcome, oncological considerations and future perspectives. In gastrectomy the biggest advantage of the robotic approach is the ease and reproducibility of lymphadenectomy. Reports also show that even the intra corporeal digestive restoration is facilitated by use of the robotic approach, particularly following TG. Additionally, the accuracy of robotic dissection is confirmed by decreased blood loss in comparison to conventional laparoscopy. The learning curve and technical reproducibility also appear to be shorter with robotic surgery and, consequently, robotics can help to standardize and diffuse minimally invasive surgery in the treatment of gastric cancer. While published reports have shown no significant differences in surgical morbidity, mortality, or oncological adequacy between robot-assisted and conventional gastrectomy. There are some advantages in terms of postoperative recovery of patients after robotic surgery. More studies are needed to assess the true indications and oncological effectiveness of robotic use in the treatment of gastric carcinoma.

• 한국CDE학회논문집
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• 제20권3호
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• pp.263-268
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• 2015

Due to an increased sitting time in work, lumbar disc disease is one of the most frequent diseases in modern days, and this occasionally requires surgery for treatment. Endoscopic disc surgery, one of the common disc surgeries, requires a process of inserting a guide needle to the target disc for which the insertion path is manually planned by drawing lines on the patient's skin while monitoring the fluoroscopic view of the lumbar. Such procedure inevitably exposes both surgeon and patient to the fluoroscopy radiation emitted from the c-arm for a long time. To reduce the radiation exposure time, this study proposes a computer assisted method of calculating the 3D guide needle path by using 2D c-arm images of the disc in 3 different angles. Additionally, a method of the guide robot control based on the 3D needle path was developed by implementing the Hand-eye Calibration method to calculate the transformation matrix between the c-arm and robot base coordinate systems. The proposed system was then tested for its accuracy.

• Journal of Chest Surgery
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• 제54권2호
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• pp.154-157
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• 2021

Tracheobronchial injury (TBI) is an uncommon but potentially fatal event. Iatrogenic lesions during bronchoscopy, endotracheal intubation, or thoracic surgery are considered the most common causes of TBI. When TBI is detected during surgery, concomitant surgical treatment is recommended. Herein we present a case of successful robotic primary repair of iatrogenic tracheal and left bronchial branch tears during a robot-assisted hybrid 3-stage esophagectomy after neoadjuvant chemoradiotherapy. A robotic approach can facilitate the repair of this injury while reducing both the potential risk of conversion to open surgery and the associated increased risk of postoperative respiratory complications.

• Journal of Korean Neurosurgical Society
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• 제67권1호
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• pp.60-72
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• 2024

Objective : Recently, robotic-assisted spine surgery (RASS) has been considered a minimally invasive and relatively accurate method. In total, 495 robotic-assisted pedicle screw fixation (RAPSF) procedures were attempted on 100 patients during a 14-month period. The current study aimed to analyze the accuracy, potential risk factors, and learning curve of RAPSF. Methods : This retrospective study evaluated the position of RAPSF using the Gertzbein and Robbins scale (GRS). The accuracy was analyzed using the ratio of the clinically acceptable group (GRS grades A and B), the dissatisfying group (GRS grades C, D, and E), and the Surgical Evaluation Assistant program. The RAPSF was divided into the no-breached group (GRS grade A) and breached group (GRS grades B, C, D, and E), and the potential risk factors of RAPSF were evaluated. The learning curve was analyzed by changes in robot-used time per screw and the occurrence tendency of breached and failed screws according to case accumulation. Results : The clinically acceptable group in RAPSF was 98.12%. In the analysis using the Surgical Evaluation Assistant program, the tip offset was 2.37±1.89 mm, the tail offset was 3.09±1.90 mm, and the angular offset was 3.72°±2.72°. In the analysis of potential risk factors, the difference in screw fixation level (p=0.009) and segmental distance between the tracker and the instrumented level (p=0.001) between the no-breached and breached group were statistically significant, but not for the other factors. The mean difference between the no-breach and breach groups was statistically significant in terms of pedicle width (p<0.001) and tail offset (p=0.042). In the learning curve analysis, the occurrence of breached and failed screws and the robot-used time per screw screws showed a significant decreasing trend. Conclusion : In the current study, RAPSF was highly accurate and the specific potential risk factors were not identified. However, pedicle width was presumed to be related to breached screw. Meanwhile, the robot-used time per screw and the incidence of breached and failed screws decreased with the learning curve.

• Journal of Chest Surgery
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• 제42권3호
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• pp.396-400
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• 2009

다빈치 로봇수술은 현재 다양한 외과영역에서 시행되고 있으나 폐, 식도 외과영역에서는 아직까지 널리 이용되지 않고 있다. 본원에서는 74세 남자환자가 딸꾹질과 연하곤란을 주소로 내원하여 시행한 검사에서 식도암으로 진단되어 da Vinci 로봇을 이용하여 식도절제술을 시행한 후, 복강경으로 위장튜브를 만들어 흉골하 통로를 통해 경부에서 위장-식도 단단 문합을 시행하였다. 환자는 수술 후 특별한 합병증 없이 완쾌 퇴원하였다. 향후 다빈치로봇을 이용한 최소 침습수술이 식도암을 비롯한 폐, 식도외과 영역에의 활용에 있어서 좋은 결과가 기대되므로 보고하는 바이다.