• 로봇학회논문지
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• 제17권1호
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• pp.8-15
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• 2022

In this paper, we proposed the method of virtual reality-based surgical navigation to reproduce the pre-planned position and angle of the pedicle screw in spinal fusion surgery. The goal of the proposed method is to quantitatively save the surgical plan by applying a virtual guide coordinate system and reproduce it in the surgical process through virtual reality. In the surgical planning step, the insertion position and angle of the pedicle screw are planned and stored based on the virtual guide coordinate system. To implement the virtual reality-based surgical navigation, a vision tracking system is applied to set the patient coordinate system and paired point-based patient-to-image registration is performed. In the surgical navigation step, the surgical plan is reproduced by quantitatively visualizing the pre-planned insertion position and angle of the pedicle screw using a virtual guide coordinate system. We conducted phantom experiment to verify the error between the surgical plan and the surgical navigation, the experimental result showed that target registration error was average 1.47 ± 0.64 mm when using the proposed method. We believe that our method can be used to accurately reproduce a pre-established surgical plan in spinal fusion surgery.

• Archives of Plastic Surgery
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• 제47권2호
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• pp.146-152
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• 2020

Background Preoperative computed tomography angiography (CTA) of the abdominal wall vessels is used when planning free flap breast reconstruction (FFBR) because it provides a surgical road map which facilitates flap harvest. However, there are few reports on the effect of abnormal findings on the operative plan. Methods We conducted a retrospective study of all FFBRs performed at a tertiary referral center over a 6-year period (November 2011 to June 2017). One consultant radiologist reported on the findings. Details on patient demographics, CTA reports, and intraoperative details were collected. Results Two hundred patients received preoperative CTAs. Fourteen percent of patients (n=28) had abnormal findings. Of these findings, 18% were vascular anomalies; 36% tumorrelated and 46% were "miscellaneous." In four patients, findings subsequently prevented surgery; they comprised a mesenteric artery aneurysm, absent deep inferior epigastric (DIE) vessels, bilateral occluded DIE arteries, and significant bone metastases. Another patient had no suitable vessels for a free flap and the surgical plan converted to a pedicled transverse rectus abdominis musculocutaneous flap. The remaining incidental findings had no impact on the surgical plan or appropriateness of FFBR. More than one in 10 of those with abnormal findings went on to have further imaging before their operation. Conclusions CTA in FFBR can have a wider impact than facilitating surgical planning and reducing operative times. Incidental findings can influence the surgical plan, and in some instances, avoid doomed-to-fail and unsafe surgery. It is therefore important that these scans are reported by an experienced radiologist.

• 한국임상수의학회지
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• 제33권6호
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• pp.385-388
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• 2016

A 2-year-old, castrated male Chihuahua dog was referred for revision surgery for reluxation of the patella following surgery for medial patellar luxation (MPL) of the left stifle joint. On general inspection, the patient showed bilateral hindlimb weight-bearing lameness. On physical examination, bilateral non-reducible MPL was detected through palpation. Radiographs revealed bone deformities of both hindlimbs. Computed tomography (CT) was applied for a three-dimensional (3D) printing bone model to establish an accurate surgical plan. The bone plate was pre-contoured over the 3D-printing bone model after execution of corrective osteotomy and sterilized prior to use in surgery. Corrective osteotomy was performed through a staged, bilateral procedure. The patient showed improvement of limb function following surgery without reluxation of the patella. The use of 3D-printing bone model for accurate surgical planning of corrective osteotomy appears to be effective in increasing the accuracy of surgery. That may lead to successful surgical outcomes.

• Maxillofacial Plastic and Reconstructive Surgery
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• 제27권2호
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• pp.188-195
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• 2005

After making the surgical treatment plan, the surgical movements are duplicated in the model surgery. During this procedure, reference points and lines are drawn on the base of the models over the dental arch, and sawcuts are made according to these marked osteotomy lines. This method requires more accuracy for better postsurgical results in that the surgical splint which enables the surgeon to position the jaws intraoperatively is made from the casts as repositioned by the model surgery, and finally it will define the postsurgical results. This technique, however, has been found to be inexact, especially when the jaws are moved in several dimensions simultaneously. To overcome this, different methods have been developed for an accurate repositioning of the jaws as planned. A new appliance, Surgical Jaw Relator, was devised by the author for the simple 3-dimensional relocation of the upper and lower models, resulting in the easy construction of the splints such as centric relation splint, intermediate and final splint. This article describes an introduction and a clinical application of this appliance.

• 한국컴퓨터그래픽스학회논문지
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• 제20권1호
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• pp.1-11
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• 2014

뇌성마비에서 나타나는 하지 변형은 정상 보행 및 자세 유지에 어려움을 준다. 이를 교정하기 위해 임상의는 변형 정도를 측정하여 교정 절골술 계획을 수립하고 계획된 정도만큼 절골술을 시행한다. 그러나 절골술 시행 후 원래 계획보다 더 적거나 더 많이 교정되는 상황이나 의도치 않았던 변형이 발견되는 상황이 종종 발생한다. 이러한 문제 상황들이 발생하는 이유는 절골술 계획수립 시, 기존의 방법이 하지골의 정확한 형태학적 정보를 반영하기 어렵고 하지골을 절골하여 회전 시키는 정도에 따라 최종 결과가 어떻게 나오는지 사전에 예측하는 것이 쉽지 않으며 효과적인 교정 결과를 얻을 수 있는 절골술 방법, 회전각도 등 다양한 입력 조건의 최적 조합을 찾기가 어렵기 때문이다. 본 논문은 이를 해결하기 위해 컴퓨터 그래픽스 분야의 정기구학, 역기구학 및 최적화 기법을 하지 교정 절골술에 적용하여 임상의가 최적의 절골술 계획을 수립할 수 있도록 하는 방법을 제안한다. 하지 골의 3차원 메쉬 모델을 입력으로 받아 이를 분석하여 하지 특징점을 추출하고 임상지표를 자동으로 계산하여 변형 정도를 파악하는 방법, 하지 골을 대상으로 하는 5가지 교정 절골술의 시뮬레이션을 통해 그 결과를 사전에 예측할 수 있는 방법 그리고 비선형 최적화 문제로 변환하여 최적 교정 절골술 계획을 자동으로 수립하는 방법을 제안한다. 이를 통해 하지 골 교정 절골술과 관련된 거의 모든 경우의 수를 사전에 확인해 볼 수 있어서 종래의 방법보다 훨씬 쉽고 효율적으로 절골술을 계획하고 실행할 수 있을 것이다.

• Maxillofacial Plastic and Reconstructive Surgery
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• 제37권
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• pp.44.1-44.6
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• 2015

Background: The present study introduces the design and fabrication of a simple surgical guide with which to perform genioplasty. Methods: A three-dimensional reconstruction of the patient's cranio-maxilla region was built, with a dentofacial skeletal model, then derived from CT DICOM data. A surgical simulation was performed on the maxilla and mandible, using three-dimensional cephalometry. We then simulated a full genioplasty, in silico, using the three-dimensional (3D) model of the mandible, according to the final surgical treatment plan. The simulation allowed us to design a surgical guide for genioplasty, which was then computer-rendered and 3D-printed. The manufactured surgical device was ultimately used in an actual genioplasty to guide the osteotomy and to move the cut bone segment to the intended location. Results: We successfully performed the osteotomy, as planned during a genioplasty, using the computer-aided design and computer-aided manufacturing (CAD/CAM) surgical guide that we initially designed and tested using simulated surgery. Conclusions: The surgical guide that we developed proved to be a simple and practical tool with which to assist the surgeon in accurately cutting and removing bone segments, during a genioplasty surgery, as preoperatively planned during 3D surgical simulations.

• 대한심미치과학회지
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• 제32권2호
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• pp.54-68
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• 2023

디지털 방법을 사용한 무치악의 임플란트 치료계획은 surgical guide design으로 구체화된다. Surgical guide를 제작할 때, 우리는 먼저 최종 보철의 형태를 가상공간에 구현한 후 이를 바탕으로 식립 계획을 구체화하게 된다. 그러나 완전무치악 환자는 치아배열의 기준이 없고 악간관계가 정립되어 있지 않아 최종 보철의 형태를 짐작하기 어려워 surgical guide를 만드는 데 어려움이 있다. 이때 기존의 만족스러운 총의치나 부분의치, 잔존치 등이 존재한다면 그 치아배열이 가상적인 최종 보철의 reference가 될 수 있다. 만약 이러한 reference가 부재하거나 만족스럽지 못하다면, 진단용 목적으로 총의치를 제작하되 이를 구내에서 검증하는 과정이 필요하다. 이러한 과정을 통해 surgical guide를 제작할지라도 구내 상황에 따라 implant의 위치가 계획한 것과 다르게 식립될 수 있으며, 만약 guide의 positioning이 잘못된다면 그 오차는 모든 implant의 위치를 변위시킬 수 있으므로 guide 수술이 오히려 재앙으로 다가올 수 있다. 본 기고에서는 치아 배열의 reference가 될 수 있는 자료들을 적절한 시기에 채득하여 이를 디지털 공간에 이전 및 통일된 좌표계로 정렬하는 방법에 대해 논의하고, 또한 이렇게 수립된 식립계획을 현실의 구강에 적은 오차로 이전 및 정렬하는 방법에 대해 소개하여 일관적이고 체계적인 무치악 가이드 디자인의 프로토콜 정립에 대해 의견 개진하려 한다.

• 대한정형외과학회지
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• 제53권6호
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• pp.459-465
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• 2018

정형외과 수술의 임상적 결과에 영향을 미치는 요소는 여러 가지가 있지만 수술적 수기가 가장 중요한 요인이며 로봇공학은 술기를 보다 정확하고 일관되게 수행하기 위해 도입되었다. 정형외과 영역에서는 20년 전부터 로봇수술을 사용하였으나 실용성 문제와 합병증의 발생으로 일부 로봇은 도태되었으며 단점을 개선한 로봇이 소개되고 있다. 대부분의 로봇수술은 인공관절수술 분야에서 시행되었고 치환물의 정렬과 위치 선정에서 우수한 것으로 보고되고 있다. 그러나 임상적 결과의 우수성, 실용성, 가성비 등의 측면에서 제한점이 있고 일부 로봇수술에서는 합병증 발생 빈도가 높다는 보고가 있었다. 초기 로봇수술은 수술자의 개입 없이 계획된 수술이 진행되는 능동형 로봇수술이 주를 이루었으나 최근에는 수술과정에서 실시간 피드백을 통해 술자가 술 전 계획을 변경할 수 있고, 햅틱 경계 내에서 제한된 골절제를 함으로써 주요 혈관, 신경, 인대 등의 손상을 최소화할 수 있는 반능동형 로봇수술이 소개되고 있다.

• Journal of Mechanical Science and Technology
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• 제20권1호
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• pp.19-28
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• 2006

This paper describes rapid prototyping (RP) and reverse engineering (RE) application for orthopedic surgery planning to improve the efficiency and accuracy of the orthopedic surgery. Using the symmetrical characteristics of the human body, CAD data of undamaged bone of the injured area are generated from a mirror transformation of undamaged bone data for the uninjured area. The physical model before the injury is manufactured from Poly jet RP process. The surgical plan, including the selection of the proper implant, pre-forming of the implant and decision of fixation positions, etc., is determined by a physical simulation using the physical model. In order to examine the applicability and efficiency of the surgical planning technology, two case studies, such as a distal tibia comminuted fracture and an iliac wing fracture of pelvis, are carried out. From the results of the examination, it has been shown that the RP and RE can be applied to orthopedic surgical planning and can be an efficient surgical tool.

• 대한간호학회지
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• 제9권1호
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• pp.9-22
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• 1979

The major purpose of this study was to compare the state anxiety of surgical patients by sex (male/female), area of operation (sex-organ/non sex-organ), and family planning (having the plan of child-bearing/having no plan of child-bearing). One hundred sixty patients who were to get surgical operation were equally divided into eight groups resulted from combination of variables of sex, area of operation, and family planning, The state anxiety of surgical patients was measured in terms of the discrepancy score between the state anxiety score on the State-Trait Anxiety Inventory (STAI) administered at a day before operation and the trait anxiety score on it which was administered at a day before discharge. In order to test statistically the differences among meant scores of the state anxiety obtained by eight groups, multiple comparisons were carried out by Scheffe method. The results of this study led to the conclusions that, (1) there was no significant sex difference in the state anxiety of surgical patients, when the area of operation and the family planning variables were disregarded, (2) the state anxiety of patients who were to get operation of their sex-organ was significantly higher than that of patients who were to get operation on the parts other than their sex-organ, when variables of the sex and the family planning were not taken into account, (3) there was no significant sex difference in the state anxiety of patients who were to Bet operation on the parts other than their sex-organ, when the family planning variable was disregarded, (4) the state anxiety of female patients who were to get operation on their sex-organ was significantly higher than the stale anxiety of male patients who were to get operation on their sex-organ, when the family planning variable was not taken into account.