• Journal of Institute of Control, Robotics and Systems
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• v.20 no.6
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• pp.676-688
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• 2014

The IEEE 802.11e EDCA (Enhanced Distributed Channel Access) mechanism has been proposed to improve the QoS (Quality of Service) of various services in WLANs (Wireless Local Area Networks). By differentiating the channel access delay depending on ACs (Access Categories), this mechanism can provide the relative service differentiation among ACs. In this paper, we consider that WLAN is deployed in medical environments to transfer medical traffic and we reveal that the quality of the medical traffic (in particular, ECG signals) is significantly deteriorated even with the service differentiation by IEEE 802.11e EDCA. Also, we analyze the reason for performance degradation and show that IEEE 802.11e EDCA has difficulty in protecting the transmission opportunity of high-priority traffic against low-priority traffic. In order to assure medical-grade QoS, we firstly define the service priority of medical traffic based on their characteristics and requirements, and then we propose the enhanced channel access scheme, referred to as DIFF-CW. The proposed scheme differentiates CW (Contention Window) depending on the service priority and modifies the channel access procedure for low-priority traffic. The simulation results confirm that the DIFF-CW scheme not only assures the QoS of medical traffic but also improves the overall channel utilization.

• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.299-307
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• 2023

In the midst of accelerating wars around the world, unmanned robot technology that can guarantee the safety of human life is emerging. ERP-42 is a modular platform that can be used according to the application. In the field of defense, it can be used for transporting supplies, reconnaissance and surveillance, and medical evacuation in conflict areas. Due to the nature of the military environment, atypical environments are predominant, and in such environments, the platform's path followability is an important part of mission performance. This paper focuses on reducing the minimum turning radius in terms of improving path followability. The minimum turning radius of the existing 2WS/2WD in-wheel platform was reduced by increasing the torque of the independent driving in-wheel motor on the rear wheel to generate oversteer. To determine the degree of oversteer, two GPS were attached to the center of the front and rear wheelbases and measured. A closed-loop speed control method was used to maintain a constant rotational speed of each wheel despite changes in load or torque.

• Progress in Medical Physics
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• v.27 no.3
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• pp.117-124
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• 2016

Intrafractional motion of patients, such as respiratory motion during radiation treatment, is an important issue in image-guided radiotherapy. The accuracy of the radiation treatment decreases as the motion range increases. We developed a control system for a robotic patient immobilization system that enables to reduce the range of tumor motion by compensating the tumor motion. Fusion technology, combining robotics and mechatronics, was developed and applied in this study. First, a small-sized prototype was established for use with an industrial miniature robot. The patient immobilization system consisted of an optical tracking system, a robotic couch, a robot controller, and a control program for managing the system components. A multi speed and position control mechanism with three degrees of freedom was designed. The parameters for operating the control system, such as the coordinate transformation parameters and calibration parameters, were measured and evaluated for a prototype device. After developing the control system using the prototype device, a feasibility test on a full-scale patient immobilization system was performed, using a large industrial robot and couch. The performances of both the prototype device and the realistic device were evaluated using a respiratory motion phantom, for several patterns of respiratory motion. For all patterns of motion, the root mean squared error of the corresponding detected motion trajectories were reduced by more than 40%. The proposed system improves the accuracy of the radiation dose delivered to the target and reduces the unwanted irradiation of normal tissue.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.8
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• pp.603-609
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• 2016

This paper presents an optimally designed master device mechanism for teleoperated interventional robotic system. The interventional procedures using the teleoperated robotic system and the physicians' requirements are summarized. The master device should implement 5-DOF motion including 2-DOF translational motion for the entry position control, 2-DOF rotational motion for the orientation control, and 1- DOF translational motion for needle insertion. The handle assembly includes a 1-DOF translational mechanism for needle insertion and buttons for operation mode selection. The mechanisms for the 2-DOF translational motion and the 2-DOF rotational motion are designed using motors and brakes based on the various mechanisms to satisfy all the above requirements, respectively. Absolute position sensors are adopted to implement automatic initial positioning and orientation matching at the first step of needle insertion.

• The Journal of Korea Robotics Society
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• v.11 no.3
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• pp.133-139
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• 2016

Increasing interest of human health, building bio-database (Bio DB) has been become a hot issue in life science. Consequently, Single Cell Analysis (SCA) which can explain biodiversity of lives has been a significant factor for building Bio DB. In numerous studies from these analyses, they have been showed that mechanical properties of cells can serve explanation of biological heterogeneity and criterion of disease states. Therefore, measuring mechanical properties of cells have great potential to be used in bio-medical applications. However, traditionally, many researchers have undergone difficult and time consuming work because handling small sized cells usually requires high-skilled technique. Thus, this paper shows robotized stiffness measurement technique using fixed ended beam sensor, precision motorized stage and substrate which have wall structure.

• Journal of Chest Surgery
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• v.42 no.3
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• pp.396-400
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• 2009

Operations using the da Vinci robot have performed in for many surgeries, but the adoption of robotics to general thoracic surgery has been slow. The patient (age 74, male) visited our hospital complaining of hiccups and dysphagia. The CT scan and endoscopic biopsy revealed esophageal cancer (squamous cell carcinoma). We performed transthoracic esophagectomy using a da Vinci robot and this was followed by gastric tube mobilization via laparoscopy. Cervical esophago-gastric anastomosis was done using the hand-sewn method. The gastric tube was brought into the neck through the retrosternal route. The patient was discharged without any complications. We report here on a case of successful da Vinci robotic esophgagectomy.

• BMB Reports
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• v.45 no.9
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• pp.489-495
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• 2012

Ischemia is a blockage of blood supply due to an embolism or a hemorrhage in a blood vessel. When an organ cannot receive oxygenated blood and can therefore no longer replenish its blood supply due to ischemia, stresses, such as the disruption of blood glucose homeostasis, hypoglycemia and hypoxia, activate the AMPK complex. LKB1 and $CaMKK{\beta}$ are essential activators of the AMPK signaling pathway. AMPK triggers proangiogenic effects through the eNOS protein in tissues with ischemic conditions, where cells are vulnerable to apoptosis, autophagy and necrosis. The AMPK complex acts to restore blood glucose levels and ATP levels back to homeostasis. This review will discuss AMPK, as well as its key activators (LKB1 and $CaMKK{\beta}$), as a central energy regulator and evaluate the upstream and downstream regulating pathways of AMPK. We will also discuss how we can control this important enzyme in ischemic conditions to prevent harmful effects in patients with vascular damage.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.8
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• pp.585-589
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• 2016

Recently, the robotic assist system for cardiovascular intervention gets continuously growing interest. The robotic cardiovascular intervention systems are largely two folds, systems for cardiac ablation procedure assist and systems for vascular intervention assist. For the systems, the clinician controls the catheter inserted through blood vessel to the heart via a master console or master manipulator. Most of the current master manipulators have structure of joystick-like pivoting 2 degree of freedom (DOF) handle in the core, which is used in parallel with other sliding switches and input devices. It however is desirable to have customized and optimized design manipulator that can provide clinician with intuitive control of the catheter motion fully utilizing the advantage of the use of robotic structure. A 6 DOF kinematic mechanism that can capture the motion control intention of the clinician in translational 3 DOF and rotational 3 DOF is proposed in this paper. Also, a master-slave motion relationship specially designed for the cardiac catheter manipulation motion is proposed and implemented in an experimental prototype. Design revision for implementation of more efficient motion and experiment in combination with an experimental slave robot system for catheter manipulation are underway.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1528-1535
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• 1997

Many radiological modalities has been applied to medicine as a basic fundamental diagnosis and therapy recently. The prevalence of computer systems affect most images to be digitized. However conventional X-ray film images are not digital images eventhough they covers 70% of all radiologica images. This is the hinderacne of building PACS. In this paper all radiological digital imaging parts such as DSA. CR. MRI. SPECT. PET and ultrasonography were briefly introduced and the applications were described. In brief digital radiography contribute to enhance the medical service quality. And the digital substituition of conventional X-ray film image is inevitable.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1573-1576
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• 2004