• Proceedings of the Korea Information Processing Society Conference
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• 2019.05a
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• pp.375-378
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• 2019

최근 딥러닝과 머신러닝 기법이 소프트웨어의 성능 향상에 도움이 되는 것이 입증됨에 따라, 의료 영상 진단 보조 소프트웨어를 개발하기 위한 시도가 활발해 지고 있다. 그 중 캡슐내시경은 소장 소화기관을 관찰할 수 있는 초소형 의료기기로, 기존의 내시경 검사와 다르게 이물감이 느껴지지 않고 의료보험 적용으로 최근 들어 널리 이용되고 있다. 일반적으로 캡슐 내시경은 8 시간 동안 소화기간을 촬영하며, 한 번의 검사 결과로 생성된 동영상 데이터 셋은 수 만장의 이미지를 포함하기 때문에, 방대한 양의 이미지들을 효율적으로 관리하기 위한 체계가 필요하다. 특히, 방대한 양의 캡슐내시경 이미지를 학습하는 경우, 수 만장의 이미지 속에서 유의미한 특징(촬영정보, 의사소견, 환자정보, 병변의 위치 및 크기 등)을 추출해내야 하므로 학습 데이터 레이블링을 위한 정보를 정확히 추출해야 하는 작업이 요구된다. 따라서 본 논문에서는 캡슐내시경 영상을 학습할 때, 학습 데이터 레이블 정보를 체계적으로 구축할 수 있게 하는 레이블 정보 추출 기법을 제안하고자 한다. 제안하는 기법은 병원에서 14년간 수집된 총 340명의 캡슐내시경 데이터(약 1,700 만장의 이미지)를 토대로 영상데이터를 구조적으로 분석하여 유의미한 정보를 추출하고 노이즈 데이터를 제거한 뒤, 빅데이터 저장소에 적재할 수 있음을 보였다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1068-1073
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• 2005

Development of a locomotive mechanism for the capsule type endoscopes will largely enhance the ability to diagnose disease of digestive organs. In connection with it, most of the researches have focused on an installable locomotive mechanism in the capsule. In this paper, it is introduced that the movement of a capsule type endoscope in digestive organ can be manipulated by magnetic force produced outside human body. Since the magnetic force is provided by permanent magnets, no additional power supply to the capsule is required. Using a robotic manipulator for locating the external magnet, the capsule motion control system can cover the whole human digestive organs. This study is particularly concentrated on dither motion effect to improve the mobility of capsule type endoscope. It was experimentally found out that the friction coefficient between the capsule and digestive organ can be remarkably reduced by superposing yawing or rolling dither motion on the translatory motion. In this paper, the experimental results obtained while the direction, amplitude and frequency of sinusoidal dither motion were changed are reported.

• Journal of Intelligence and Information Systems
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• v.15 no.2
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• pp.33-48
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• 2009

Capsule endoscopy is one of the most remarkable inventions in last ten years. Causing less pain for patients, diagnosis for entire digestive system has been considered as a most convenience method over a normal endoscope. However, it is known that the diagnosis process typically requires very long inspection time for clinical experts because of considerably many duplicate images of same areas in human digestive system due to uncontrollable movement of a capsule endoscope. In this paper, we propose a method for clinical diagnosticians to get highly valuable information from capsule-endoscopy video. Our software system consists of three global maps, such as movement map, characteristic map, and brightness map, in temporal domain for entire sequence of the input video. The movement map can be used for effectively removing duplicated adjacent images. The characteristic and brightness maps provide frame content analyses that can be quickly used for segmenting regions or locating some features(such as blood) in the stream. Our experiments show the results of four patients having different health conditions. The result maps clearly capture the movements and characteristics from the image frames. Our method may help the diagnosticians quickly search the locations of lesion, bleeding, or some other interesting areas.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.1
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• pp.108-114
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• 2007

This paper presented an image reconstruction method based on the original capsule endoscopy photos yielding a 2-D image for faster diagnosis proposes. The proposed method constructed a 3-D intestine model using the massive images obtained from the capsule endoscope. It merged all images and completed a 3-D model of an intestine. This 3-D model was reformed as a 2-D plane image showing the inner side of the entire intestine. The proposed image composition was evaluated by the 3-D simulator, OpenGL. This approach was demonstrated successfully. A physician can find the location of a disease at a glance because the composite image provided an easy-to-understand view to show the patient's intestine and thereby shorten diagnosis time.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.854-857
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• 2001

At present, colonoscopy is performed by means of quite long and flexible endoscopes and controlled manually. Although the flexibility of the distal tip allows the endoscope to follow the tortuous path of the colon, the insertion of the endoscope requires the endoscopist to exert forces on and to perform rotations of the proximal end; these actions cause discomfort to the patient. Though self-propelling colonoscopic systems has been suggested to overcome these problems, it is difficult to pass through highly curved regions of the intestine. In this paper, we introduce a steering mechanism for a self-propelling coloinlscope, the smart capsule, which has three actuator units. The mechanism is designed not only to move forward and backward but also to pass through the curved regions. We derived the governing equations of this mechanism. Active movements and motion control are developed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.652-655
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• 2003

This paper is about the recent development of the magnetic impact actuator for endoscope. The developed magnetic impact actuator has many problems to arrange in the system body. Because the magnetic impact actuator need a permanent magnet as an impacter, so the magnetic interference among magnets can not be eliminated. This interference causes the system size bigger. We need a new actuator design to solve these problems. One of the good solutions is to use the closed electro-magnetic circuit. This kind of circuit enhances the actuators to be independent. It is written about the design of the electro-magnetic circuit and simulation using Maxwell(version 9.0)

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.3 s.246
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• pp.287-294
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• 2006

In recent years, capsule endoscope is highlighted for the patient's convenience and the possibility of the application in the small intestine. However, the capsule endoscope has some limitations to get the image of the digestive organ because its movement only depends on the peristaltic motion. In order to solve these problems, locomotion of capsule endoscope is necessary. In this paper, we analyze the locomotive mechanism of earthworm-like robot proposed as locomotive device of capsule endoscope and derive the condition which can Judge the possibility of its mobility using theoretical analysis. Based on a biomechanical modeling and simulation, the critical stroke, that is minimum stroke of the earthworm-like robot to perform motion inside small intestine, is obtained. Also, this derived critical stroke can be validated by the moving test of fabricated earthworm-like robot. Consequently, it is expected that this study can supply useful information to design of earthworm-like robot for mobility of capsule endoscope.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1537_1538
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• 2009

기존의 초소형 렌즈모듈들은 초점 거리 가변을 위한 구동장치가 필요하여 소형화 한계, 큰 전력소모, 부품의 기계적 결함 등 해결해야 할 부가적인 문제점들이 존재하였다. 액체렌즈는 이러한 문제를 해결할 수 있는 유력한 기술로 주목받고 있으며, 특히 부가적인 구동 장치가 필요없고 비교적 간단한 원리로 렌즈 곡률을 조절할 수 있는 일렉트로웨팅 기반의 액체렌즈는 초점 거리 조절 및 줌 조절이 필요한 휴대폰, 캡슐 내시경 등에 적용이 가능하다. 그러나 기존의 일렉트로웨팅 기반의 액체렌즈는 렌즈 캐비티의 크기에서 큰 단점이 있으며, 렌즈모듈구성 시에도 소형화하는데 한계가 존재하였다. 본 연구에서는 렌즈 캐비티를 MEMS 기술을 이용하여 실리콘 기판 상에 제작함으로써 구동회로의 집적이 가능한 액체렌즈를 제작하였다.

• The Journal of Korea Robotics Society
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• v.4 no.1
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• pp.62-67
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• 2009

For diagnoses of digestive organs, capsule endoscopes are widely used and offer valuable information without patient's discomfort. A general capsule endoscope which consists of image sensing module, telemetry module and battery is able to move along gastro-intestinal tracts passively only through peristaltic waves. Thus, it is likely to have some limitations for doctor to acquire images from the desired organs and to diagnose them effectively. As solutions to these problems, a locomotive function of capsule endoscopes has being developed. We have proposed a capsule-type microrobot with synchronized multiple legs. However, the proposed capsular microrobot also has some limitations, such as low speed in advancement, inconvenience to controlling the microrobot, lack of an image module, and deficiency in a steering module. In this paper, we will describe the limitations of the locomotive microrobot and propose solutions to the drawbacks. The solutions are applied to the capsular microrobot and evaluated by in-vitro tests. Based on the experimental results, we conclude that the proposed solutions are effective and appropriate for the locomotive microrobot to explore inside intestinal tracts.