• 한국CDE학회논문집
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• 제18권4호
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• pp.243-249
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• 2013

This paper presents a tool-path generation methods for an automated robotic system for skull drilling, which is performed to access to some neurosurgical interventions. The path controls of the robotic system are classified as move, probe, cut, and poke motions. The four motions are the basic motion elements of the tool-paths to make a hole on a skull. Probing, rough cutting and fine cutting paths are generated for skull drilling. For the rough cutting path circular paths are projected on the offset surfaces of the outer top and the inner bottom surfaces of the skull. The projected paths become the paths on the top and bottom layers of the rough cutting paths. The two projected paths are blended for the paths on the other layers. Syntax of the motion commands for a file format is also suggested for the tool-paths. Implementation and simulation results show that the possibility of the proposed methods.

• 한국CDE학회논문집
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• 제17권3호
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• pp.198-207
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• 2012

This paper presents an overview of automated robotic system for skull drilling, which is performed to access for some neurosurgical interventions, such as brain tumor resection. Currently surgeons use automatic-releasing cranial perforators. The drilling procedure must be performed very carefully to avoid penetration of brain nerve structures; however failure cases are reported. The presented prototype system utilizes both preoperative and intraoperative information. Preoperative CT image is used for robot path planning. A NeuroMate robot with a six-DOF force sensor at the end effector is used for intraoperative operation. Intraoperative cutting force from the force sensor is the key information to revise an initial registration and preoperative path plans. Some possibilities are verified by path simulation but cadaver experiments are required for validation of this prototype.

• 경영과정보연구
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• 제34권3호
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• pp.251-271
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• 2015

본 연구는 일터에서 사용되는 로봇의 HRD 정책적 함의에 대해 고찰하고 있다. 기존 연구들은 로봇의 기술적 측면을 주로 다루고 있기 때문에, 본 연구는 일터에서의 로봇 기술의 한계와 가능성을 사회문화적 측면에서 이해하기 위해 쓰여졌다. 특히 로봇과 함께 일하는 데 있어 가장 적합한 조직 차원의 지원 방안을 찾기 위해 일터에서의 로봇-인간 간의 상호작용을 관찰하는데 필요한 대안적인 관점을 제시하고 있다. 그와 함께 본 연구는 HRD 실천적 연구를 위한 로봇 기술의 함의를 다음과 같이 제안한다. (1) 인간-로봇 간 상호작용과 관련된 전문성의 요소들을 정의하는 것 (2) 기술 도입으로 인한 조직 변화 과정에 대처하는 것 (3) 로봇 기술에 적응하기 위한 조직 개입 방안을 계획하는 것 (4) 로봇과 인간이 함께 일할 때 필요한 직업윤리를 수립하는 것. 본 연구에서 제시된 로봇 기술의 함의들은 향후 일터에서의 로봇 기술 사용과 관련된 양적, 질적 사회과학 연구의 개념적 프레임워크를 수립하는데 기여할 수 있을 것으로 기대된다.

• 로봇학회논문지
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• 제10권2호
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• pp.61-69
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• 2015

In this paper, we propose and examine the feasibility of the robot-assisted behavioral intervention system so as to strengthen positive response of the children with autism spectrum disorder (ASD) for learning social skills. Based on well-known behavioral treatment protocols, the robot offers therapeutic training elements of eye contact and emotion reading respectively in child-robot interaction, and it subsequently accomplishes pre-allocated meaningful acts by estimating the level of children's reactivity from reliable recognition modules, as a coping strategy. Furthermore, for the purpose of labor saving and attracting children's interest, we implemented the robotic stimulation configuration with semi-autonomous actions capable of inducing intimacy and tension to children in instructional trials. From these configurations, by evaluating the ability of recognizing human activity as well as by showing improved reactivity for social training, we verified that the proposed system has some positive effects on social development, targeted for preschoolers who have a high functioning level.

• Clinical Endoscopy
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• 제51권6호
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• pp.552-557
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• 2018

Although colonoscopy was originally a diagnostic imaging procedure, it has now expanded to include an increasing range of therapeutic interventions. These procedures require precise maneuvers of instruments, execution of force, efficient transmission of force from the operator to the point of application, and sufficient dexterity in the mobilization of endoscopic surgical instruments. The conventional endoscope is not designed to support technically demanding endoscopic procedures. In case of colonoscopy, the tortuous anatomy of the colon makes inserting, moving, and orientating the endoscope difficult. Exerting excessive pressure can cause looping of the endoscope, pain to the patient, and even perforation of the colon. To mitigate the technical constraints, numerous technically enhanced systems have been developed to enable better control of instruments and precise delivery of force in the execution of surgical tasks such as apposing, grasping, traction, counter-traction, and cutting of tissues. Among the recent developments are highly dexterous robotic master and slave systems, computer-assisted or robotically enhanced conventional endoscopes, and autonomously driven locomotion devices that can effortlessly traverse the colon. Developments in endoscopic instrumentations have overcome technical barriers and opened new horizons for further advancements in therapeutic interventions. This review describes examples of some of these systems in the context of their applications to advanced therapeutic colonoscopy.

• Journal of Dental Anesthesia and Pain Medicine
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• 제20권5호
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• pp.325-329
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• 2020

Classic anesthetic techniques for the inferior alveolar nerve, lingual nerve, and long buccal nerve blockade are achieved by estimating the intended location for anesthetic deposition based on palpation, inspection, and subsequent correlation for oral anatomical structures. The present article utilizes computed tomography (CT) data to 3D print a guide for repeatable and accurate deposition of a local anesthetic at the ideal location. This technical report aims to anatomically define the ideal location for local anesthetic deposition. This process has the potential to reduce patient discomfort, risk of nerve damage, and failed mandibular anesthesia, as well as to reduce the total anesthetic dose. Lastly, as robotic-based interventions improve, this provides the initial framework for robot-guided regional anesthesia administration in the oral cavity.