• 로봇학회논문지
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• 제5권3호
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• pp.186-196
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• 2010

In this paper, we present a global localization and position error compensation method in a known indoor environment using magnet hall sensors. In previous our researches, it was possible to compensate the pose errors of $x_e$, $y_e$, ${\theta}_e$ correctly on the surface of indoor environment with magnets sets by regularly arrange the magnets sets of identical pattern. To improve the proposed method, new strategy that can realize the global localization by changing arrangement of magnet pole is presented in this paper. Total six patterns of the magnets set form the unique landmarks. Therefore, the virtual map can be built by using the six landmarks randomly. The robots search a pattern of magnets set by rotating, and obtain the current global pose information by comparing the measured neighboring patterns with the map information that is saved in advance. We provide experimental results to show the effectiveness of the proposed method for a differential drive wheeled mobile robot.

• 대한의용생체공학회:의공학회지
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• 제20권2호
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• pp.139-148
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• 1999

본 논문에서는 PC기반의 치과 수술 시스템을 설계하였다. 이 시스템은 수술 후의 3차원 영상을 예측할 수 있다. 따라서 환자는 수술 후에 CT를 다시 촬영하지 않아도 되며 방사선에 노출시킬 필용가 없다. 수술 전, 후의 두부(Cephalometry) X-ray 정보와 수술 전의 CT 데이터로부터 수술 후의 환자의 두개골을 예측한다. X-ray 필름과 수술 전의 CT를 해부학적 불변 계측점(anatomical landmarks) 방법을 기반으로 한 특이값 분해(SVD: singular value decomposition) 로 레지스트레이션(registration)을 하였으며, 이를 표면 재구성 영상화 시스템으로 설계하였다. 설계된 시스템의 유용성을 검증하기 위하여 건조 두개골 모델 실험과 실제 임상환자에 대한 임상실험을 시행하였으며 유의수준 0.05에서 유의차가 없는 것으로 나타났다.

• 한국전문물리치료학회지
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• 제14권2호
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• pp.61-67
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• 2007

The purpose of this study was to examine inter- and intra-examiner reliability of the sacroiliac joint (SIJ) anatomical landmarks palpation. Two physical therapists and one doctor specializing in rehabilitation examined 22 asymptomatic subjects. They examined anterior superior iliac supine (ASIS), posterior superior iliac supine (PSIS) and iliac crest (IC). For the assessment of intra-examiner reliability, 3 examiners repeated the measurements 3 times over a 2-week interval. Kappa (Kg) yielded intra-examiner reliability that ranged between slight to fair for the ASIS (Kg=.06 to .26; mean Kg=.19), and slight for the PSIS(Kg=-.04 to .18; mean Kg=.07) and slight to fair for the IC (Kg=.06 to .32; mean Kg=.21). Inter-examiner reliability was slight (ASIS Kg=.13; PSIS Kg=.05; IC Kg=.14). These results suggest that the reliability of the assessing SIJ anatomical landmarks using palpation and observation as an indication of SIJ dysfunction still remains questionable. Before this test can be relied upon as an accurate indicator of SIJ dysfunction, it must undergo further research. This further research needs to examine not only reliability, but also validity, sensitivity and specificity.

• 대한두경부종양학회지
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• 제22권1호
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• pp.29-32
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• 2006

Background: The location of parotid gland tumors can influence the duration and the difficulty of the operation. If the information about tumor location was available preoperatively, it would allow accurate operative planning and counseling of patients in terms of the length of the operation and the potential morbidity. Methods: This study was based on a retrospective review of 100 patients with parotid gland tumors underwent parotidectomy from January 2000 to October 2005 at Yong-Dong Severance Hospital. Based on computed tomographic(CT) scan findings, 4 landmarks such as facial nerve(FN) line, Utrecht(U) line, Conn's are(CA), and retromandibular vein (RV) were drawn on the scans in same plane. The location of tumors were determined by the landmarks and confirmed by the operative findings. The accuracy of each landmarks was evaluated. To find out the accuracies according to tumor size, the tumors were divided into 2 groups; less than 2 cm and larger than 2 cm in diameter. Results: U line was the most accurate(94%), sensitive(89.3%) and specific(97.7%) in predicting tumor location of the parotid gland. However, in small tumors less than 2cm, FN line (p=0.022) and RV criteria (p=0.028) were more reliable in accuracy. Conclusion: CA, FN line, U line, and RV are all useful landmarks in preoperative prediction for the location of parotid gland tumors. However, U line was the most accurate, but we must consider that proper landmark should be used in prediction according to the size of tumor because the accuracy of landmark may change.

• 대한치과교정학회지
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• 제41권6호
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• pp.411-422
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• 2011

브라켓의 접착에 의한 입술 주위 연조직의 변화를 평가하기 위하여 심한 골격적 부조화가 존재하지 않는 18세 이상, 29세 미만의 성인 환자 중 포괄적 교정 치료를 위하여 상, 하악 치아의 순측에 브라켓을 접착한 45명을 대상으로 3차원 레이저 스캐너를 이용하여 브라켓의 접착 직전과 직후의 3차원 입체 영상을 획득하였다. 브라켓의 접착 전후 입술 및 입술 주위 연조직의 변화를 3차원 좌표계 상에서 분석하였다. 3차원 변화량(distance: 동일 계측점 간의 변화에 대한 최단 거리)에서 유의성을 보인 모든 계측점에서 전방 변화량이 가장 크게 나타났으며, 측면 계측점들은 측방으로 유의성 있는 변화가 나타났다. 상순의 계측점들은 상방으로, 하순의 계측점들과 B'는 하방으로 유의성 있는 변화가 나타났다. 하순의 Li (labrale inferius)에서 1.39 mm로 가장 큰 변화가 나타났고 ($p$ < 0.01), Li Rt (labrale inferius right), Li Lt (labrale inferius left)에서 1.15 mm, 1.09 mm의 변화가 나타났다 ($p$ < 0.01). 상순의 양측 ULP (upper lip point), Ls (labrale superius), Ls Rt (labrale superius right), Ls Lt (labrale superius left)에서 0.81 mm, 0.85 mm, 0.82 mm, 0.97 mm, 0.92 mm의 변화를 보여 ($p$ < 0.01), 하순에 비하여 상순의 변화가 작게 나타났다. 양측 Ch (cheilion)과 Stm (stomion)에서 1.17 mm, 1.16 mm, 1.02 mm ($p$ < 0.01), Sn (subnasale)와 B' (soft tissue B point)에서 0.46 mm, 0.63 mm ($p$ < 0.01, $p$ < 0.05)의 변화가 나타났다. 브라켓의 종류에 따른 연조직 변화량은 차이가 나타나지 않았다. 이상의 결과는 성인 교정 환자에서 브라켓의 접착에 의한 입술 및 입술 주위 연조직 변화의 예측에 참고 자료가 될 것이다.

• 대한치과보철학회지
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• 제43권1호
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• pp.41-51
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• 2005

Statement of problem. Anatomic landmarks have been used in the orientation of occlusal plane and the determination of vertical dimension for edentulous patients. Such as labial vestibules of anterior region and hamular notches, retromolar pads of posterior region are very useful anatomic landmarks for fabrication of occlusion rim because they are to be identified on master casts. Therefore, if average distances between landmarks of maxillae and mandible in dentate subjects are measured and applied, not only occlusal plane but also vertical dimension can be established initially. Purpose. The purpose of this study is to measure vertical distances between anatomic landmarks and to present a guide to the orientation of occlusal plane and the determination of vertical dimension of edentulous patients. Material and method. Upper and lower border-molded casts were made in 93 Korean dentulous subjects, mean age 25 years. Incisal edges of central incisors, bottoms of labial vestibules, hamular notches and the half level of retromolar pads were marked on casts. Measurements of vertical distances from incisal edge of central incisor to the bottom of labial vestibule, between upper and lower bottoms of labial vestibules, from hamular notch to retromolar pad and from hamular notch to the occlusal plane established by the incisal edge of maxillary central incisor and mesiopalatal cusps of both maxillary first molars were made on each cast. Results and conclusion. 1. The mean distance from the incisal edge of central incisor to the bottom of labial vestibule was 20.8mm(SD 1.7) on upper casts and 17.3mm(SD 1.4) on lower casts. 2. The mean distance between both bottoms of labial vestibules of upper and lower casts was 35.0mm(SD 2.7). 3 The mean distance from hamular notch to the half level of retromolar pad was 5.0mm(SD 1.3). 4. The mean distance from hamular notch to occlusal plane was 7.9mm(SD 1.5). 5. Distances from incisal edge of central incisor to labial vestibule on lower casts(P<0.01) and from hamular notch to retromolar pad(P<0.0001) were greater in male than in female.

• Journal of International Society for Simulation Surgery
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• 제2권1호
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• pp.26-32
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• 2015

Purpose When a surgeon examines the morphology of skull of patient, locations of craniometric landmarks of 3D computed tomography(CT) volume are one of the most important information for surgical purpose. The locations of craniometric landmarks can be found manually by surgeon from the 3D rendered volume or 2D sagittal, axial, and coronal slices which are taken by CT. Since there are many landmarks on the skull, finding these manually is time-consuming, exhaustive, and occasionally inexact. These inefficiencies raise a demand for a automatic localization technique for craniometric landmark points. So in this paper, we propose a novel method through which we can automatically find these landmark points, which are useful for surgical purpose. Materials and Methods At first, we align the experimental data (CT volumes) using Frankfurt Horizontal Plane (FHP) and Mid Sagittal Plane(MSP) which are defined by 3 and 2 cranial landmark points each. The target landmark of our experiment is the anterior nasal spine. Prior to constructing a statistical cubic model which would be used for detecting the location of the landmark from a given CT volume, reference points for the anterior nasal spine were manually chosen by a surgeon from several CT volume sets. The statistical cubic model is constructed by calculating weighted intensity means of these CT sets around the reference points. By finding the location where similarity function (squared difference function) has the minimal value with this model, the location of the landmark can be found from any given CT volume. Results In this paper, we used 5 CT volumes to construct the statistical cubic model. The 20 CT volumes including the volumes, which were used to construct the model, were used for testing. The range of age of subjects is up to 2 years (24 months) old. The found points of each data are almost close to the reference point which were manually chosen by surgeon. Also it has been seen that the similarity function always has the global minimum at the detection point. Conclusion Through the experiment, we have seen the proposed method shows the outstanding performance in searching the landmark point. This algorithm would make surgeons efficiently work with morphological informations of skull. We also expect the potential of our algorithm for searching the anatomic landmarks not only cranial landmarks.

• 대한치과교정학회지
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• 제54권1호
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• pp.48-58
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• 2024

Objective: To quantify the effects of midline-related landmark identification on midline deviation measurements in posteroanterior (PA) cephalograms using a cascaded convolutional neural network (CNN). Methods: A total of 2,903 PA cephalogram images obtained from 9 university hospitals were divided into training, internal validation, and test sets (n = 2,150, 376, and 377). As the gold standard, 2 orthodontic professors marked the bilateral landmarks, including the frontozygomatic suture point and latero-orbitale (LO), and the midline landmarks, including the crista galli, anterior nasal spine (ANS), upper dental midpoint (UDM), lower dental midpoint (LDM), and menton (Me). For the test, Examiner-1 and Examiner-2 (3-year and 1-year orthodontic residents) and the Cascaded-CNN models marked the landmarks. After point-to-point errors of landmark identification, the successful detection rate (SDR) and distance and direction of the midline landmark deviation from the midsagittal line (ANS-mid, UDM-mid, LDM-mid, and Me-mid) were measured, and statistical analysis was performed. Results: The cascaded-CNN algorithm showed a clinically acceptable level of point-to-point error (1.26 mm vs. 1.57 mm in Examiner-1 and 1.75 mm in Examiner-2). The average SDR within the 2 mm range was 83.2%, with high accuracy at the LO (right, 96.9%; left, 97.1%), and UDM (96.9%). The absolute measurement errors were less than 1 mm for ANS-mid, UDM-mid, and LDM-mid compared with the gold standard. Conclusions: The cascaded-CNN model may be considered an effective tool for the auto-identification of midline landmarks and quantification of midline deviation in PA cephalograms of adult patients, regardless of variations in the image acquisition method.

• 대한치과교정학회지
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• 제32권5호
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• pp.313-325
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• 2002

3차원 CT에서는 환자의 움직임에 의한 오차와 상의 확대나 왜곡을 감소시킨 실측치를 얻을 수 있으며 두개안면부의 입체적인 영상을 구성할 수 있고 원하는 조직이나 구조물의 관찰이 용이하다 디지털 영상 기술이 빠르게 발전하고 있고 치료의 범위가 더욱 넓어지면서 두개악안면 구조의 3차원적인 분석법의 개발은 시급한 과제가 되었다. 이에 본 연구에서는 Vworks 프로그램$^{TM}$ (Cybermed Inc., Seoul, Korea)과 건조두개골을 이용하여 3차원 CT 영상의 오차와 확대율을 평가하고Vmorph-proto프로그램 $^{TM}$ (Cybermed Inc., Seoul, Korea)을 이용하여 정상인과 비대칭 환자의 3차원 CT영상에서 지정이 용이하고 반복재현성이 높은 계측점을 설정하고자 하여 다음과 같은 결론을 얻었다 ; 1. 건조두개골의 실측치와 Vworks 프로그램을 이용하여 구성한 3차원 CT영상에서 의 계측치를 비교한 결과 평균오차가 0.99mm, 확대율이 1.04%로 나타났다. 2. 3차원 CT영상에서 경조직 계측점으로 Supraorbitale, Lateral orbital margin, Infraorbitale, Natron, ANS, A point, Zygomaticomaxilla, Upper incisor, Lower incisor, B point, Pogonion, Menton, PNS, Condylar inner margin, Condylar outer margin, Porion, Condylion, Gonionl, Gonion2, Gonion3, Sigmoid notch, Basion 등이 임상적으로 유용하다고 판단되었다. 3. 3차원 CT영상에서 연조직 계측점으로 Endocanthion, Exocanthion, Soft tissue Nasion, Pronasale, Alare lateralis, Upper nostril point, Lower nostril point, Subnasale, Upper lip point, Cheilion, Stomion, Lower lip center, Soft tissue B, Pogonion, Menton, Preaurale 등이 임상적으로 유용하다고 판단되었다. Vworks 프로그램으로 3차원 CT영상을 구성하고 계측하는 것이 임상적으로 유용하다고 판단되었다. 또한 위에서 제안된 연조직 및 경조직 계측점들은 3차원 CT영상에서 반복 재현성이 높고 지정이 용이하며 해부학적 특징을 나타내주는 점들로 두개악안면 구조의 3차원적인 진단과 술전, 술후의 예측과 비교에 유용하게 사용될 것으로 사료되는 바이다.

• 대한방사선협회지
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• 제25권1호
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• pp.138-139
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• 1999