• 한국정밀공학회지
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• 제33권7호
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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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 춘계학술대회 논문집
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• pp.1185-1186
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• 2010

• Tuberculosis and Respiratory Diseases
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• 제44권5호
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• pp.1011-1018
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• 1997

연구배경 : 이 연구의 목적은 자동생검장치를 이용한 경피적 폐생검의 유용성과 안전성에 대하여 알아보기 위함이다. 방 법 : 저자들은 폐종괴를 가진 114명의 환자를 대상으로 18-gauge 자동생검장치(ASAP 18, Microvasive)를 사용하여 경피적 폐생검올 시행하였다. 이중 16명에서는 1회의 반복생검을 하여 총 130예의 폐생검의 이루어졌다. 130예중 83예는 숙련된 방사건과의사에 의하여 나머지 47예는 비교적 덜 숙련된 여러명의 방사선과의사들에 의하여 생검이 시행되었다. 모든 생검은 투시유도하에 시술되었다. 결 과 : 130예중 128예(98%)에서 2mm 이상의 충분한 검체를 얻을 수 있었다. 전체 114 명중 97명(85%)에서 조직학적 진단을 내릴 수 있었으며, 이중 악성질환을 가진 89명중 78명(88%)과 양성질환을 가진 21명 중 19명(90%)에서 특이적 진단을 얻을 수 있었다. 조직학적 진단이 가능하였던 폐암에서는 전례(74/74)에서 소세포암과 비소세포암의 구분이 가능하였다. 진단에 필요한 조직을 얻는데 숙련자와 비숙련자간의 유의한 차이는 없었다. 총 130예중 생검후 13예(10%)에서 기흉이 발생하였으나 이중 2예(2%)에서만 삽관술을 필요로 하였고, 7예(5%)에서 경미한 객혈이 발생하였으나 치료를 요한 경우는 1예도 없었다. 결 론 : 자동생검장치를 이용한 경피적 폐생검은 악성과 양성 폐질환의 특이적 진단을 내리는데 유용한 검사이며 합병증의 발생 빈도도 낮은 안전한 시술이다.

• 대한방사선기술학회지:방사선기술과학
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• 제46권2호
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• pp.151-157
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• 2023

The purpose of this study was to develop an assist device that could correct and support patient position during biopsy on computed tomography (CT) using 3D printing technology. The development method was conducted in the order of 3D design, 3D output, intermediate evaluation for product, final assist device evaluation. The 3D design method was conducted in the order of prior research data survey, measurement, primary modeling, 3D printing, output evaluation, and supplementary modeling. The 3D output was the 3D printer (3DWOX 2X, Sindoh, Korea) with additive manufacturing technology and the polylactic acid (PLA) materials. At this time, the optimal strength was evaluated to infill degree of product as the 3D printing factors into 20%, 40%, 60%, and 80%. The intermediate evaluation and supplementation was measured noise in the region of interest (ROI) around the beam hardening artifact on the CT images. We used 128-channel MDCT (Discovery 75 HD, GE, USA) to scan with a slice thickness of 100 kVp, 150 mA, and 2.5 mm on the 3D printing product. We compared the surrounding noise of the final 3D printing product with the beginning of it. and then the strength of it according to the degree of infill was evaluated. As a result, the surrounding noise of the final and the early devices were measured at an average of 3.3 ± 0.5 HU and 7.1 ± 0.1 HU, respectively, which significantly reduced the noise of the final 3D printing product (p<0.001). We found that the percentage of infill according to the optimal strength was found to be 60%. Finally, development of assist devices for CT biopsy will be able to minimize artifacts and provide convenience to medical staff and patients.

• 대한방사선기술학회지:방사선기술과학
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• 제47권2호
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• pp.97-105
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• 2024

The examination needle used in ultrasound biopsy is a medical device used to determine whether there is an abnormality in the tissue. Typically, stainless steel is the standard material used for such needles; however, this study wanted to identify a material that could better enhance sound compared to traditional stainless steel. In this study, six types of needle materials available with the biopsy gun were inserted into pork and ultrasound images according to the curved probe and linear probe were evaluated using ultrasound equipment. The findings revealed significant improvements in ultrasound acoustic enhancement with alternative materials compared to stainless steel (p<0.05). The results regarding the depth of each ultrasound image using the curved probe showed that tungsten and brass had high sound enhancement(p<0.05), while with the linear probe, sound enhancement was high in brass, pla, aluminum, and copper(p<0.05). Due to these results, the previously used stainless needle showed lower ultrasound acoustic enhancement than the five types of materials being compared. Consequently, the outcomes of this study provide valuable insights for the development of new needle technologies aimed at minimizing patient risks and improving diagnostic accuracy.

• 제어로봇시스템학회논문지
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• 제22권8호
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• pp.590-596
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• 2016

Biopsy is a typical needle type intervention procedure performed under radiographic image equipment such as computed tomography (CT) and cone-beam CT. This minimal invasive procedure is a simple and effective way for identifying cancerous condition of a suspicious tissue but radiation exposure for the patients and interventional radiologists is a critical problem. In order to overcome such trouble and improve accuracy in targeting of the needle, there have been various attempts using robot technology. Those devices and systems, however, are not for full procedure automation in biopsy without consideration for tissue sampling task. A robotic end-effector of a master-slave tele-operated needle type intervention robot system has been proposed to perform entire biopsy procedure by the authors. However, motorized sampling adopted in the device has different cutting speed from that of biopsy guns used in the conventional way. This paper presents the design of a novel robotic mechanism and protocol for the automation of biopsy procedure using spring-triggered biopsy gun mechanism. An experimental prototype has been successfully fabricated and shown its feasibility of the automated biopsy sequence.

• Asian Pacific Journal of Cancer Prevention
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• 제15권15호
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• pp.6081-6086
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• 2014

Background: To evaluate the effectiveness of Microlux/DL with and without toluidine blue in screening of potentially malignant and malignant oral lesions. Materials and Methods: In this diagnostic clinical trial clinical examination was carried out by two teams: 1) two oral medicine consultants, and 2) two general dentists. Participants were randomly and blindly allocated for each examining team. A total of 599 tobacco users were assessed through conventional oral examination (COE); the examination was then repeated using Microlux/DL device and toluidine blue. Biopsy of suspicious lesions was performed. Also clinicians opinions regarding the two tools were obtained. Results: The sensitivity and, specificity and positive predictive value (PVP) of Microlux/DL for visualization of suspicious premalignant lesions considering COE as a gold standard (i.e screening device) were 94.3%, 99.6% and 96.2% respectively, while they were 100%, 32.4% and 17.9% when considering biopsy as a gold standard. Moreover, Microlux/DL enhanced detection of the lesion and uncovered new lesions compared to COE, whereas it did not alter the provisional clinical diagnosis, or alter the biopsy site. On the other hand, adding toluidine blue dye did not improve the effectiveness of the Microlux/DL system. Conclusions: The Microlux/DL seems to be a promising adjunctive screening device.

• 한국콘텐츠학회논문지
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• 제22권7호
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• pp.676-683
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• 2022

전산화단층촬영 유도하 폐 병소의 생검(CT guided lung biopsy)시 환자의 움직임을 최소화 하는 것은 시술에 있어 중요한 요소이다. 이에 움직임을 최소화 하고자 진공 고정기구(vacuum cushion)를 사용하여 그 효용성을 평가하였다. 연구대상은 자세 고정 및 호흡 조절이 잘 협조된 환자 40세 이상, 총 116명을 대상으로 하였다. 자세 측정은 폐 병소 생검 병변의 각 위치에 따라, 바로누운자세, 엎드린자세, 사방향자세, 측와위자세로 측정 하였다. 측정 위치는 해부학적 자세 기준으로 전방향, 후방향, 우측, 좌측에서 측정하였다. 엎드린자세에서 posterior의 미사용의 평균과 사용의 평균차는 1.7905이며 t=2.913(p<0.01)로 미사용/사용의 평균 차이는 통계적으로 유의미하다. 오른쪽방향의 미사용 평균과 사용 평균의 차는 2.4105로 나타났으며 t=3.684(p<0.01)로 왼쪽방향의 평균 차이 또한 유의미했다. 오른쪽방향의 미사용 평균과 사용 평균 차는 2.3263이며 t=3.791(p<0.01)로 미사용과 사용의 평균 차이는 통계적으로 유의미하다. 통계 분석 결과 고정기구를 사용하여 폐 병소의 생검을 시술 한 경우가 모든 자세에서 움직임이 적었다. CT유도하 폐 병소의 생검의 시술시 고정기구를 활용하여 보다 정확한 생검시술과 환자의 자세 움직임을 최소화 할 수 있음에 대한 연구를 진행하였다는 데에 의의가 있다고 사료된다.

• 대한영상의학회지
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• 제84권2호
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• pp.320-331
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• 2023

유방촬영술을 이용한 유방암 검진은 표준 영상 방법이다. 초음파에서 보이지 않고 유방촬영술이나 디지털 유방 토모신테시스에서만 보이는 의심스러운 석회화, 구조 왜곡의 조직학적 진단을 위해 입체정위생검과 유방촬영술 유도하 수술 전 위치결정술을 시행한다. 본 종설에서는 입체정위생검의 적응증 및 비적응증, 방법, 입체정위생검 후 클립 삽입과 디지털 유방 토모신테시스 유도하 입체정위생검에 대해 알아보고자 한다. 또한, 유방촬영술 유도하 수술 전 위치결정술을 침위치결정술과 비침위치결정술로 나누어 소개하고자 한다.

• Clinical Endoscopy
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• 제51권6호
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• pp.576-583
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• 2018

Background/Aims: Endoscopic ultrasound-guided fine needle aspiration (EUS-FNA) remains the most common EUS-guided tissue acquisition technique. This study aimed to evaluate the performance of a new Franseen tip fine needle biopsy (FNB) device for EUSguided sampling of solid lesions and compare it with the historical FNA technique. Methods: $Acquire^{(R)}$ 22 G FNB needle (Boston Scientific Co., Natick, MA, USA) was used for solid tumor sampling (Study group). Tissue was collected for rapid on-site evaluation, and touch and crush preparations were made. Historical EUS-FNA samples obtained using $Expect^{(R)}$ 22 G FNA needle (Boston Scientific Co.) were used as controls (Control group). All specimens were independently evaluated by two cytopathologists blinded to the formal cytopathological diagnosis. Results: Mean cell block histology scores were significantly higher (p=0.046) in the FNB group (51 samples) despite a significantly lower (p<0.001) mean number of passes compared to the FNA group (50 specimens). The overall diagnostic yields for the FNB vs. FNA groups were 96% vs. 88%. The degree of tumor differentiation was adequately assessed in all cell block qualifying lesions in the FNB group. Two patients developed post-FNB abdominal pain. Conclusions: The new Franseen tip FNB device provides histologically superior and cytologically comparable specimens to those obtained by FNA, but with fewer passes.