• 로봇학회논문지
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• 제12권4호
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• pp.395-401
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• 2017

In this paper, we introduce a robot-assisted medical diagnostic system that enables remote ultrasound (US) imaging to be applied to the conventional telemedicine, which has been possible only with interviewing or a visual exam. In particular, a master-slave robot system is developed that ultrasonic diagnosis specialist can control the position and orientation of US probe in the remote place. The slave robot is designed to be compact, lightweight, and hand-held so that it can easily transfer to the remote healthcare center. Moreover, 6-degree-of-freedom (DOF) probe motion is possible by the robot design based on Stewart platform. The master device is also based on a similar structure of the slave robot. To connect master and slave system in the wide area network (WAN) environment, a hardware CODEC was developed. In this paper, we introduce the detail of each component and the results of the recent experiments conducted in the remote sites by the developed robotic ultrasound imaging system.

• 대한의용생체공학회:의공학회지
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• 제33권3호
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• pp.105-113
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• 2012

Biopsy is a type of histopathological examinations, in which a physician samples cells or tissues from a patient's suspicious lesion. Such a lesion frequently resides deep inside human body, and then a percutaneous biopsy is therefore performed using a thick needle with the assistance of medical imaging such as computed tomography(CT) and magnetic resonance imaging(MRI). Recently modern robotic technology is being introduced to percutaneous biopsy in order to reduce any possible human error and hazard on physicians caused by medical imaging. After medical imaging locates the exact location of lesion, an optimization algorithm plans the path for a biopsy needle. Subsequently, a robot system moves the biopsy needle to the lesion in accurate and safe way with the control of a practitioner or automatically. In this article, we try to look into the state-of-art of percutaneous biopsy using such robotic technology. We classified percutaneous biopsy robots by mechanical characteristics and by imaging technology. Then, advantage and disadvantage of each class type are described as well as the basic description, and a few representative designs for each type are introduced. Current research issues of robotized percutaneous biopsy are subjectively selected for the readers' convenience. We emphasize the basic technology of actuator and sensors compatible with imaging technology to conclude this review.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.349-350
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• 2011

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.105-106
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• 2011

• 대한디지털의료영상학회논문지
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• 제11권1호
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• pp.43-50
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• 2009

Geometry calculation Using Abdominal internal organ image from traditional laparoscopy or robotic surgery system we can make depth informations through measured 3D structure informations is very helpful to doctors, depth information is mare useful then others that use traditional laparoscopy or robotic surgery system to many doctors. however, traditional method are incomplete. less experienced doctors make much mare prohability of mistake. Hence, 3D information of organ is very helpful to the less experienced doctors. it will be greate role of reducing medical accidents and surgical time. We can get 3D informations using geometrical calculation method in robotic surgical system. also suggested method is needed in traditional surgical method without the need to create a new system, finally, We can get 3D information from traditional system without any new system, it take advantage in cost and create high efficiency. mare information will provided to many doctors.

• 전기전자학회논문지
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• 제24권1호
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• pp.293-301
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• 2020

Consultation with the patient and doctor is very important in the examination. However, if the consultation cannot be done directly, such as corona virus, it is difficult for the doctor to determine the patient's condition more accurately. Recently, an image counseling system has been developed based on the Internet, but in the case of heart disease, remote medical counseling cannot be performed because it is not possible to stethoscope the heart sounds remotely. In order to solve this problem, it is necessary to develop an interactive mobile robot capable of remote medical consultation, and a doctor and a patient should be able to set a planting sound during consultation and transmit it in real time. In this paper, we developed a robot that can remotely control a medical counseling robot to move to a hospital room where patients are hospitalized, and to consult a patient in the room remotely from a doctor's office. A remote medical imaging stethoscope system for real-time heart sound transmission is presented. The proposed system is a kind of P2P communication that transmits video information, audio information, and control signal independently through webRTC platform, so that there is no data loss. Consults and sees doctors in real time and finds it more effective than traditional methods for patient security. The system implemented in this paper will be able to perform remote medical care in the place where the spread of diseases between humans like the recent corona 19 as well as the remote medical care of heart disease patients in the future.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 추계학술대회
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• pp.714-719
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• 2004

This paper presents two numerical algorithms for registration of cross-sectional medical images such as CT (Computerized Tomography) or MRI (Magnetic Resonance Imaging) by using geometrical information from helix or line fiducials. The registration algorithms are designed to be used for a surgical robot working inside cavities of human body. A cylindrical device with a combination of line and helix fiducials were also devised and is supposed to be attached to the end-effector of surgical robot. The algorithms and the fiducial pattern were tested in various computer-simulated situations, and the results indicate excellent overall registration accuracy.

• 한국정밀공학회지
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• 제24권9호
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• pp.140-147
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• 2007

As the use of robots in surgeries becomes more frequent, the registration of medical devices based on images becomes more important. This paper presents two numerical algorithms for the registration of cross-sectional medical images such as CT (Computerized Tomography) or MRI (Magnetic Resonance Imaging) by using the geometrical information from helix or line fiducials. Both registration algorithms are designed to be used for a surgical robot that works inside a cavity of human body. This paper also reports details about the fiducial pattern that includes four helices and one line. The algorithms and the fiducial pattern were tested in various computer-simulated situations, and the results showed excellent overall registration accuracy.

• 대한기계학회논문집A
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• 제38권5호
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• pp.497-503
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• 2014

골절 치료에서 최소 침습 수술 방법은 그 효용성이 입증 되었지만, 의료진이 골편을 직접 볼 수 없기 때문에 방사선 투시영상장치(C-armed fluoroscopy)에 의존하여 수술을 진행하게 된다. 최소침습 수술은 환자에게는 감염이 적고 회복이 빠르다는 장점이 있지만 의료진에게는 과도한 방사선 피폭과 부정확한 골절정복 가능성이 높아지는 문제점이 발생할 수 있다. 본 연구에서는 이와 같은 문제를 해결하기 위해 수술 항법장치와 수술 지원로봇을 활용하는 방법을 제안한다. 골편의 3D CT 모델을 실제 골편과 특징점을 이용해서 정합하는 오픈 소스 기반으로 구성된 수술 항법 장치와 2D 투시 영상에서 골편간의 회전 변위를 정상측 투시 영상과 비교하여 확인 할 수 있는 방법을 제안하였고, 모델 뼈를 이용한 실험으로 제안한 방법의 임상적 타당성을 확인하였다. 그 결과 3D CT-기반 수술 항법 장치의 모델 뼈와 영상정합 정확도는 약 2mm 로 정형외과 수술에서 요구되는 사양을 만족했으며, 2D 투시 영상에서는 ${\pm}15^{\circ}$범위의 골편간의 회전에서 $2.5^{\circ}$이하의 변별력을 나타내었다.

• 제어로봇시스템학회논문지
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• 제19권6호
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• pp.527-533
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• 2013

BCI (Brain-Computer Interface) is a system that transforms a subject's brain signal related to their intention into a control signal by classifying EEG (electroencephalograph) signals obtained during the imagination of movement of a subject's limbs. The BCI system allows us to control machines such as robot arms or wheelchairs only by imaging limbs. With the exact same experiment environment, activated brain regions of each subjects are totally different. In that case, a simple approach is to use as many channels as possible when measuring brain signals. However the problem is that using many channels also causes other problems. When applying a CSP (Common Spatial Pattern), which is an EEG extraction method, many channels cause an overfitting problem, and in addition there is difficulty using this technique for medical analysis. To overcome these problems, we suggest an optimal channel selection method using a BPSO (Binary Particle Swarm Optimization), BPSO with channel impact factor, and GA. This paper examined optimal selected channels among all channels using three optimization methods and compared the classification accuracy and the number of selected channels between BPSO, BPSO with channel impact factor, and GA by SVM (Support Vector Machine). The result showed that BPSO with channel impact factor selected 2 fewer channels and even improved accuracy by 10.17~11.34% compared with BPSO and GA.