• Journal of Korean Neurosurgical Society
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• 제46권6호
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• pp.577-580
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• 2009

A 47-year-old man presented with a subarachnoid hemorrhage (SAH) and right cerebellar hematoma was referred for evaluation. Cerebral angiography revealed a distal anterior inferior cerebellar artery (AICA) aneurysm associated with an arteriovenous malformation (AVM). Successful obliteration and complete removal of the aneurysm and AVM were obtained using transcortical approach under the guidance of neuronavigation system. The association of a peripheral AICA aneurysm and a cerebellar AVM by the same artery is unique. The reported cases of conventional surgery for this disease complex are not common and their results are variable. Less invasive surgery using image-guided neuronavigation system would be helpful and feasible for a peripheral aneurysm combining an AVM of the posterior fossa in selective cases

• Progress in Medical Physics
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• 제13권4호
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• pp.218-223
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• 2002

Stereotactic radiosurgery for intracranial lesion is well established since the Lars Leksell first introduced radiosurgery concept in 1951 Its use in the treatment of spinal lesion has been limited by the availability of effective immobilization devices. The first clinical experience of the spinal stereotactic radiosurgery technique was reported by Hamilton AJ. in 1995. Recently, Optic-guided patient positioning technique for extracranial stereotactic radiosurgery was developed and reported. This study is for assess the target positioning accuracy of the optic guided patient positioning system Exactrac (BrainLab., Inc, Germany). We have designed phantom for assess the accuracy of spinal stereotactic radiosurgery The infrared reflective body markers attached to the relatively immobile part of the body and a series of 2 mm CT images was taken. The image sets were transferred to the planning computer. During the radiosurgery treatment, we measure the real-time display showing the positioning values from Exactrac computer. And we compare the isocenter deviation from irradiated center point of the film which was mounted on the lesion site of the phantom and pin hole site of that film. The accuracy of the ExacTrac system in positioning a target point shows enough for the clinical applications.

• Journal of Mechanical Science and Technology
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• 제15권8호
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• pp.1097-1107
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• 2001

In this paper, the wall following navigation algorithm of the mobile robot using a mono vision system is described. The key points of the mobile robot navigation system are effective acquisition of the environmental information and fast recognition of the robot position. Also, from this information, the mobile robot should be appropriately controlled to follow a desired path. For the recognition of the relative position and orientation of the robot to the wall, the features of the corridor structure are extracted using the mono vision system, then the relative position, the offset distance and steering angle of the robot from the wall, is derived for a simple corridor geometry. For the alleviation of the computation burden of the image processing, the Kalman filter is used to reduce search region in the image space for line detection. Next, the robot is controlled by this information to follow the desired path. The wall following control scheme by the PD control scheme is composed of two control parts, the approaching control and the orientation control, and each control is performed by steering and forward-driving motion of the robot. To verify the effectiveness of the proposed algorithm, the real time navigation experiments are performed. Through the result of the experiments, the effectiveness and flexibility of the suggested algorithm are verified in comparison with a pure encoder-guided mobile robot navigation system.

• Journal of Korean Neurosurgical Society
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• 제65권4호
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• pp.572-581
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• 2022

Objective : Compared to microscopes, exoscopes have advantages in field-depth, ergonomics, and educational value. Exoscopes are especially well-poised for adaptation into fluorescence-guided surgery (FGS) due to their excitation source, light path, and image processing capabilities. We evaluated the feasibility of near-infrared FGS using a 3-dimensional (3D), 4 K exoscope with near-infrared fluorescence imaging capability. We then compared it to the most sensitive, commercially-available near-infrared exoscope system (3D and 960 p). In-vitro and intraoperative comparisons were performed. Methods : Serial dilutions of indocyanine-green (1-2000 ㎍/mL) were imaged with the 3D, 4 K Olympus Orbeye (system 1) and the 3D, 960 p VisionSense Iridium (system 2). Near-infrared sensitivity was calculated using signal-to-background ratios (SBRs). In addition, three patients with brain tumors were administered indocyanine-green and imaged with system 1, with two also imaged with system 2 for comparison. Results : Systems 1 and 2 detected near-infrared fluorescence from indocyanine green concentrations of >250 ㎍/L and >31.3 ㎍/L, respectively. Intraoperatively, system 1 visualized strong near-infrared fluorescence from two, strongly gadolinium-enhancing meningiomas (SBR=2.4, 1.7). The high-resolution, bright images were sufficient for the surgeon to appreciate the underlying anatomy in the near-infrared mode. However, system 1 was not able to visualize fluorescence from a weakly-enhancing intraparenchymal metastasis. In contrast, system 2 successfully visualized both the meningioma and the metastasis but lacked high resolution stereopsis. Conclusion : Three-dimensional exoscope systems provide an alternative visualization platform for both standard microsurgery and near-infrared fluorescent guided surgery. However, when tumor fluorescence is weak (i.e., low fluorophore uptake, deep tumors), highly sensitive near-infrared visualization systems may be required.

• Proceedings of the Korea Society of Information Technology Applications Conference
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• 한국정보기술응용학회 2005년도 6th 2005 International Conference on Computers, Communications and System
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• pp.91-97
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• 2005

Bones are dynamic structures, being supported by muscles, tendons, and ligaments. When some or all the structures are disturbed i.e. in fractures, the alignment of the bone in respect to the rest of the body is deranged. This gives rise to axial as well as rotational deformity in three dimensional planes. The correct alignment and position of the long bones are to be maintained to heal the bone in the best possible anatomical and functional position. The objective of this research is to address the problems in the current practice involving surgeon, assistant, fluoroscopy and crude mechanical means and to see if a robotic solution exists to solve the problems of manipulating and reducing long bone fractures. This paper presents various design aspects of the proposed surgeon-instructed, image-guided and robotic system including the system design specification, robot design and analysis, motion control and implementation, and x-ray image processing and incorporation in CAD environment.

• Journal of Periodontal and Implant Science
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• 제26권3호
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• pp.771-778
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• 1996

The assessment of alveolar bone changes on dental radiographs to indicate progression of periodontal diseases or healing response to therapy is routine procedure. However, the diagnostic accuracy in detecting small alveolar bone changes is very limited. Recently, guided bone regeneration therapy is popular, but the quantification of new bone is somewhat difficult with conventional evaluation method. To quantificate the amount of new bone, various evaluating methods have been introduced including histomorphometry, radiomorphometry, biochemical analysis, X-ray probe microanalysis, scanning electron microscope backscatter method. In this study, guided bone regeneration using resorbable membrane with & without PDGF-BB is quatificated through histomorphmetry to evaluate the efficacy of histomorphometric analysis. 4 beagle dogs and 8 Sprague-Dawley rats were selected as experimental animals. In beagle dog experiment, $4{\times}4mm$ Class II defects were created in maxillary both second premolars, and biodegradable membrane containing PDGF-BB(experimental group) were covered over one defect, and same membrane without PDGF-BB(control group) were covered over the other defect. At 2 weeks, 5 weeks after surgery, each beagle dogs were sacrificed, and the tissues were treated by undecalcified fixation. In Sprague-Dawley rat experiment, 5mm round defect were created in temporal bone, the same membranes were covered on the defects. At 1 week, 2 weeks after surgery, each rats were sacrificed, and undecalcified fixation were taken. After grinding tissue specimen, we analyse them histomorphometrically using image analysis system. In beagle dog 2 weeks specimens, new bone formation area were $0.03123mm^2$ in experimental group,and $0.03012mm^2$ in control group. At 5 weeks specimens, $0.15324mm^2$ in experimental group, and $0.09123mm^2$ in control group. In Sprague-Dawley rat specimens, new bone fomation area were $0.20448mm^2$ in 1 week experimental group, $0.03604mm^2$ in 1 week control group. At 2 weeks specimens, $0.46349mm^2$ in experimental group, $0.17741mm^2$ in control group. The results indicated that histomorphometric analysis of new bone formation using image analysis system is very effective quantification method to evaluate the efficacy of treatment modalities.

• Journal of Digital Convergence
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• 제11권10호
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• pp.577-584
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• 2013

IGRT(Image Guided Radiation Therapy) in radiation therapy is a very useful technique in order to increase setup of patient and position reproducibility. Tomotherapy can increase accuracy of setup to take IGRT by MVCT, but it be for verified accuracy of Image guided, and MVCT occurs the exposure of patient. Through this study, IGRT accuracy of Tomotherapy is very accurate within 1.0mm. When MVCT using Tomotherapy phantom for QA, QC be taken, exposure dose is Fine(2mm Slice thickness) 3cGy, Normal(4mm Slice thickness) 1.5cGy, Corse(6mmSlice thickness) 1.0cGy. Measurement value of spatial resolution using AAPM CT performance phantom did't cause a big difference. As a result, ability of IGRT in Tomotherapy is very accurate. While obtaining image for IGRT, we should minimize expose range because patient's be exposed to radiation. We should make an effort to do accurate radiation therapy to minimize exposure of patient by selecting the appropriate thickness of MVCT depending on patient's body and treat area.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.185-186
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• 2006

Image Guided Surgery(IGS) system has been developed to provide exquisite and objective information to surgeons for surgical operation process. It is necessary that registration technique is important to match between 3D image model reconstructed from image modalities and the object operated by surgeon. Majority techniques of registration in IGS system have been used by recognizing fiducial markers placed on the object. However, this method has been criticized due to its invasive protocol inserting fiducial markers in patient's bone. Therefore, shape-based registration technique using geometric characteristics of the object has been invested to improve the limitation of IGS system. During Total Knee Replacement(TKR) operation, it is challenge to register with high accuracy by using shape-based registration because the area to acquire sample data from knee is limited. We have developed region-based 3D registration technique based on anatomical landmarks on the object and this registration algorithm was evaluated in femur model. It was found that region-based algorithm can improve the accuracy in 3D registration. We expect that this technique can efficiently improve the IGS system.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• 제45권7호
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• pp.600-609
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• 2017

We designed a target management integration system that enables us to select the final target manually or automatically from seeker's sensor image. The integrated system was developed separately for the air vehicle system and the ground system. The air vehicle system simulates the motion dynamics and the sensor image of the air vehicle, and the ground system is composed of the target template image module and the ground control center module. The flight maneuver of the air vehicle is based on pseudo 6-degree of freedom motion equation and the proportional navigation guidance. The sensor image module was developed using the known infrared(IR) image rendering method, and was verified by comparing the rendered image to that of a commercial software. The ground control center module includes an user interface that can display as much information to meet user needs. Finally, we verified the integrated system with simulated impact target mission of the air vehicle, by confirming the final target change and the shot down result of the user's intervention.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 한국공작기계학회 2000년도 춘계학술대회논문집 - 한국공작기계학회
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• pp.543-548
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• 2000

In this study, an interactive programming method for robot in electronic part assembly task is proposed. Many of industrial robots are still taught and programmed by a teach pendant. The robot is guided by a human operator to the desired application locations. These motions are recorded and are later edited, within the robotic language using in the robot controller, and play back repetitively to perform robot task. This conventional teaching method is time-consuming and somewhat dangerous. In the proposed method, the operator teaches the desired locations on the image acquired through CCD camera mounted on the robot hand. The robotic language program is automatically generated and downloaded to the robot controller. This teaching process is implemented through an off-line programming software. The OLP is developed for an robotic assembly system used in this study. In order to transform the location on image coordinates into robot coordinates, a calibration process is established. The proposed teaching method is implemented and evaluated on an assembly system for soldering electronic parts on a circuit board. A six-axis articulated robot executes assembly task according to the off-line teaching in the system.