• Journal of Biomedical Engineering Research
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• v.21 no.6
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• pp.575-581
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• 2000

본 논문에서는 척추침생검 시뮬레이터에서 사용의 햅틱 디바이스인 PHANToM(sup)TM을 이용하여 사실적인 힘을 구현하는 방법을 보여준다. PHANToM(sup)TM은 툴의 끝부분에서 좌표축 방향으로만 힘을 낼 수 있는 단점이 있으며, 시스템의 구동장치의한계로 인하여 딱딱한 물체에 닿을 때 불안정한 특성을 보인다. 또한 좁은 영역 안에서 복잡한 조직들로 인한 급격한 강도 변화도 시스템의 불안정을 초래한다. 모사되는 힘은 두가지 성분으로 나뉜다. 하나는 바늘이 삽입될 때 바늘의 길이 방향으로 느껴지는 힘으로 생체 조직의 모델을 통해 값이 구해진다. 다른 하나는 바늘이 피부를 뚫고 지나간 이후에 바늘이 초기 삽입 방양을 유지 시켜주는 회전방향 힘으로 피봇을 이용하여 구현하였다. 불안정성 문제와 바늘이 튀어나오는 문제는 램핑 필터와 시간변수를 이용하여 제거하였다. 침생검 과정은 생체조직의 탄성 변형뿐 아니라 파괴가 일어나는 변형이므로 사실적인 힘을 구현하기 위해서 실험 데이터를 이용하여 삽입 깊이에 따라 탄성 계수와 마찰 상수가 변하는 모델을 제안하였다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.10
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• pp.851-856
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• 2016

Despite all the recent advances in biodegradable material-based microneedles, the bending and failure (especially buckling) of a biodegradable microneedle during skin tissue insertion remains a major technical hurdle for its large-scale commercialization. A reduction in skin tissue puncture force during microneedle insertion remains an essential issue in successfully developing a biodegradable microneedle. Here, we consider uniaxial and equibiaxial prestrains applied to a skin tissue as mechanophysical stimuli that can reduce the skin tissue puncture force, and investigate the effect of prestrain on the changes in skin tissue puncture force. For a porcine skin tissue similar to that of humans, the skin tissue puncture force of a flat-end microneedle is measured with a z-axis stage equipped with a load cell, which provides a force-time curve during microneedle insertion. The findings of this study lead to a quantitative characterization of the relationship between prestrain and the skin tissue puncture force.

• Journal of the Korean Society for Precision Engineering
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• v.33 no.7
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• pp.565-570
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• 2016

This paper presents the characteristics related to needle insertion of a robotic device for the automated biopsy procedure. The automated biopsy device, a main component of the robotic needle insertion type intervention system, allows performance of the full biopsy procedure, except for anesthesia, without direct handling of a radiologist or a tele-operated control. In this study, the needle length parameters corresponding to various insertion depths and precision for needle insertion of the automated biopsy device, are discussed. There were two combinations of needle length parameters for appropriate needle insertion and motion capture-based measurement was performed; 0.156 mm error for the 90 mm length commanded insertion displacement was measured. The pre-defined goal is a maximum 1 mm error and thus our measured error is within the acceptable range. In the repeatability check, it was also shown that the device can implement a highly accurate insertion.

• Radiation Oncology Journal
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• v.16 no.2
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• pp.167-175
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• 1998

Purpose : It is not a simple task to achieve the ideal isodose curve with a standard vaginal applicator or sing1e plane needle impant in the paravaginal tissue when primary or recurrent gynecological neoplasms(cervical cancers, vaginal cancers and vulvar cancers) are treated as a boost following external beam radiotherapy. The authors introduce the development and construction of a simple, inexpensive, customized applicator for volume implant to maximize the radiation dose to the tumor while minimizing the dose to the rectum and the bladder. Materials and Methods : Nine patients underwent Ir-192 transperineal interstitial implantation for either recurrent(5 cases) or primary(3 cases) cervical cancers or primary vaginal cancer(1 case) between August 1994 and February 1998 at Ajou university hospital. First 3 cases were performed with a sing1e plane implant guided by digital palpation. Because of inadequate isodose coverage in the tumor volume in first 3 cases, we designed and constructed interstitial vaginal applicator for volume implant to improve tumor dose distribution and homogeneity while sparing the surrounding normal tissue. Our applicators consist of vaginal obturator and perineal template that made of the clear acrylamide and dental mold material$(Provil^{(R)})$. The applicators were customized individually according to the tumor size and its location Both HDR and LDR irradiation were given with these applicators accomodating 6 Fr needles(Microselectron Nucletron). The pretreatment planning prior to actual implant was performed whenever possible. Results : Needles can be inserted easily and evenly into the tumor volume through the holes of templates, requiring less efforts and time for the implant procedure. Our applicators made of materials available from commercial vendors. These have an advantage that require easy procedure, and spend relatively short time to construct. Also it was possible to fabricate applicators to individualize according to the tumor size and its location and to achieve the ideal isodose coverage. We found an accurate needle arrangement and ideal dose distribution through the CT scan that was obtained in 3 cases after needle implant. Three patients with primary cervical and vaginal cancers were controlled locally at final follow up. But all recurrent cases failed to do so. Conclusion : The authors introduce inexpensive, simple interstitial vaginal templates which were self-designed and constructed using materials available from commercial vendors such as acrylanide and dental mold material $(Provil^{(R)})$.

• Proceedings of the Korean Vacuum Society Conference
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• 2016.02a
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• pp.191-191
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• 2016

대기압 저온 Ar 플라즈마 제트에서 발생되는 플라즈마에 대해 연구하였다. 플라즈마 제트의 본체는 주사기 바늘, 유리관 그리고 테프론 튜브로 구성되어 있다. 바늘의 앞부분은 유리관에 삽입되어 있으며 바늘의 뒷부분은 테프론 튜브와 연결되어 있다. 주사기 바늘에는 수십 kHz의 사인파를 발생시키는 DC-AC 인버터로 수 kV의 고전압을 인가해준다. 기체는 테프론 튜브를 통해 바늘의 안쪽으로 흐른다. 사용 기체는 Ar이며 유량은 3 lpm이다. 주사기 바늘형 전극의 내경은 1.3 mm, 외경은 1.8 mm, 총 길이는 39.0 mm이며 재질은 스테인레스강이다. 유리관의 내경은 2.0 mm, 외경은 2.4 mm, 총 길이는 80.0 mm이다. 자외선-근적외선 분광계를 이용하여 대기압 저온 Ar 플라즈마 제트에서 발생된 플라즈마의 분광 분석을 하였다. 플라즈마 제트에서 발생되는 플라즈마의 휘도는 대략 $10{\sim}30cd/m^2$이다. 플라즈마의 측정 위치, 플라즈마 제트의 입력 전압과 입력 전류, 기체 종류 등의 변수에 따른 분광 실험을 하였으며 이를 통해 얻은 분광 데이터를 일반적인 볼츠만 기울기법에 대입하여 플라즈마의 들뜸 온도를 측정하였다. 또한 Ar 플라즈마 제트의 분광 데이터를 수정된 볼츠만 기울기법에 대입하여 플라즈마의 전자 온도를 측정하였다. 이는 바이오-의료용 플라즈마 및 플라즈마 공정 등의 다양한 응용 분야에서 유용하게 활용할 수 있을 것이다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.761-762
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• 2012

• Proceedings of the Korean Vacuum Society Conference
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• 2012.02a
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• pp.504-504
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• 2012

Gas 종류에 따른 플라즈마 제트 장치의 방전 특성을 조사하였다. 고전압 전극으로 내경 0.26 mm, 외경 0.52 mm인 의료용 바늘을 사용하였으며 바늘을 유리관 내부에 삽입하여 4가지 gas를 주입시킨다. Gas의 종류는 Ar, He, Ne, 그리고 $N_2$이다. Ar과 He의 방전 개시 전압은 각 1.2 kV, 1.0 kV이고 보라색 플라즈마가 방출된다. Ne 방전은 방전 개시 전압 시작 시점인 0.3 kV부터 유리관 밖으로 길게 방출 되며 주황색 플라즈마가 방출된다. 특히, Ne gas는 전기적 쇼크가 전혀 없다. $N_2$ gas는 방전개시전압이 2.0 kV로 가장 어려우며 유리관 밖으로 플라즈마 방출되지 않는다. 각 gas 별 스펙트럼의 특성도 파악하여 어떤 gas가 인체 및 생체에 적합한지 파악한다.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.2
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• pp.222-228
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• 2012

Haptics and virtual reality are rapidly growing technologies in medical fields. Physicians and nurses can benefit from medical simulation via training and acquire surgical and clinical techniques. In this paper, the research on needle insertion force of biological tissue for haptic based intravenous injection simulator was carried out. We built the setup for needle insertion (intravenous injection) experiments and performed the experiments on live pigs. The force responses against needle insertion were measured using the experimental setup. In addition, the modeling of needle insertion force was carried out with the experimental results and numerical models via nonlinear least-squares method. The results presented in this paper indicate that the developed models can be applied not only to estimate the force feedback during intravenous injection procedure but also to improve the overall training quality of the medical simulator.

• Journal of the Korean Vacuum Society
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• v.20 no.1
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• pp.14-21
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• 2011

The plasma emission characteristics are investigated in cylindrical syringe plasma jet device. Cylindrical syringe electrode is applied AC power using inverter. In the center of syringe is injected into a inert gas and plasma jet occurs. If there is no ground electrode, firing voltage is 3 kV and plasma column length is 10 mm. According to high firing voltage and large current, the plasma column length control is difficult. The case of an internal ground electrode, firing voltage is 1 kV. Because of the losing current from internal ground, even if a higher input voltage, plasma emission does not occur. The case of an external ground electrode, the plasma column can be controlled between 0~10 mm with change the applied voltage from 1 to 2 kV, and the discharging current changed from 1 to 4 mA.

• Journal of radiological science and technology
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• v.29 no.2
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• pp.83-92
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• 2006

Based on the data of cervical cancer patients who were treated by the radiotherapy with concurrent chemotherapy at the radiation oncology department of National Cancer Center from January 2002 to February 2003, we have studied the method recommended by ICRU 38 to maximize the prescription dose to the planing target volume (PTV) with minimizing the dose to surrounding normal organs. Clinical stage of the patients are 1 patient for stage IB, 3 patients for IIA, 19 patients for IIB, 3 patients for IIIA, 3 patients for IIIB and 1 patient for IV. All patients took the MRI before treatment and the maximum size of the gross tumor volume were under 4cm for 17 patients and from 4 cm to 6 cm for 12 patients and above 6 cm for 1 patient. The results show that while the irradiated volume can be reduced with optimized dose distribution using PTV treatment planning (p<0.0001) when the remained tumor size is small, the surrounding normal organs will receive unnecessarily large dose when the irradiated tumor volume is relatively large. This is because there is some limitation in controling the intensity of radiation in Fletcher Williamson Applicator. To overcome the limit of applicator and to achieve the optimal dose distribution, we have virtually applied 4 needles with Fletcher Williamson Applicator for 10 patients who have relatively large tumor and studied the change in dose distribution before and after application. The results show that this new virtual treatment plan reduces the volume covered by 100 % isodose (p=0.0608, p=0.0607) and reduces the dose of normal organs (p=0.0162, p=0.008). This evidence suggest that this method is superior than the currently used method such as PTV treatment and ICRU treatment.