• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.718-721
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• 1988

In this paper, we develop 256*256*8 bit real-time image digitizer with the IBM-PC as a image processor. With this developed system, we process a chest X-ray image, which is a medical image, using the adaptive algorithm. In the future, we consider that the application of this developed system is extended in the various fields.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2203-2205
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• 2003

KIRAMS-13, the first medical cyclotron developed by domestic technique, is used to produce radio-isotope such as $^{18}F$ whose life time is relatively short through test operation. For high-power operation of charged particle accelerators, the power coupler must withstand enormous stresses due to charging induced by high RF power passing through. High-power RF testing with peak power in excess of 30kW has been performed on prototype power coupler for KIRAMS-13 normal conducting cavities. CST MICROWAVE STUDIO(CST MWS) is used for fundamental RF Design, and power coupler is manufactured according to fundamental power coupler design requisite. The qualification of the couplers has occurred for the time being only in a limited set of conditions as the available RF system and control instrumentation are under improvement.

• Journal of Sensor Science and Technology
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• v.17 no.5
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• pp.350-360
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• 2008

In every large hospital, nurses must perform simple repetitive tasks such as measuring body temperature. Such tedious work reduces nurses' motivation to provide quality medical care, which is an important element of the medical services provided by a hospital. If a device were available to measure body temperature, nurses could focus on the more important aspects of providing quality medical care to the patients. However, body temperature is generally measured from the throat, anus, tympanum or armpit, where it is difficult to affix a patch type device. In addition, general body temperature measuring points shows moving artifact error; therefore, it is not good point to continually measure the temperature. In this paper, a patch type skin temperature measuring system was developed. To appropriately measure the skin temperature, a thermal transducer was implemented with a thin (0.5 mm) temperature sensor. The system is small and thin ($H6.6{\sim}5.3{\times}L35{\times}W24\;mm$), and weighs only 5 g including a battery, case and circuit; therefore, it is small and light enough to function as a patch type device. Moreover, the system worked for 5 days. To investigate differences between the experimental and conventional thermometer, simple clinical experiments were performed with 17 volunteers, and the result showed some correlation between the implemented system and conventional thermometer (Correlation coefficient = 0.647, P<0.1).

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.8
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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.

• Journal of Gastric Cancer
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• v.14 no.3
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• pp.211-214
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• 2014

We report our experience of a concurrent robot assisted distal gastrectomy and partial nephrectomy for synchronous early gastric cancer and renal cell carcinoma. A 55-year-old female patient was diagnosed with early gastric cancer on screening endoscopy. Abdominal computed tomography showed an incidental right renal cell carcinoma. Robot assisted distal gastrectomy was performed, followed by partial nephrectomy. The final pathological examination showed signet ring cell carcinoma within the lamina propria and renal cell carcinoma with negative resection margins. The patient showed no evidence of recurrence at 6-months. A robot-assisted combined operation could be a treatment option for early stages of synchronous malignancies.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2676-2681
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• 2003

The Haptic Exploration Laboratory at The Johns Hopkins University is currently exploring many problems related to haptics (force and tactile information) in human-machine systems. We divide our work into two main areas: virtual environments and robot-assisted manipulation systems. Our interest in virtual environments focuses on reality-based modeling, in which measurements of the static and dynamic properties of actual objects are taken in order to produce realistic virtual environments. Thus, we must develop methods for acquiring data from real objects and populating pre-defined models. We also seek to create systems that can provide active manipulation assistance to the operator through haptic, visual, and audio cues. These systems may be teleoperated systems, which allow human users to operate in environments that would normally be inaccessible due to hazards, distance, or scale. Alternatively, cooperative manipulation systems allow a user and a robot to share a tool, allowing the user to guide or override the robot directly if necessary. Haptics in human-machine systems can have many applications, such as undersea and space operations, training for pilots and surgeons, and manufacturing. We focus much of our work on medical applications.

• International Journal of Computer Science & Network Security
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• v.21 no.2
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• pp.110-119
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• 2021

The Coronavirus or COVID-19 is contagiousness virus that infected almost every single part of the world. This pandemic forced a major country did lockdown and stay at a home policy to reduce virus spread and the number of victims. Interactions between humans and robots form a popular subject of research worldwide. In medical robotics, the primary challenge is to implement natural interactions between robots and human users. Human communication consists of dynamic processes that involve joint attention and attracting each other. Coordinated care involves sharing among agents of behaviours, events, interests, and contexts in the world from time to time. The robotics arm is an expensive and complicated system because robot simulators are widely used instead of for rehabilitation purposes in medicine. Interaction in natural ways is necessary for disabled persons to work with the robot simulator. This article proposes a low-cost rehabilitation system by building an arm gesture tracking system based on a depth camera that can capture and interpret human gestures and use them as interactive commands for a robot simulator to perform specific tasks on the 3D block. The results show that the proposed system can help patients control the rotation and movement of the 3D arm using their hands. The pilot testing with healthy subjects yielded encouraging results. They could synchronize their actions with a 3D robotic arm to perform several repetitive tasks and exerting 19920 J of energy (kg.m².S^-2). The average of consumed energy mentioned before is in medium scale. Therefore, we relate this energy with rehabilitation performance as an initial stage and can be improved further with extra repetitive exercise to speed up the recovery process.

• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.330-340
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• 2020

The purpose of this study was to develop Dementia-Care-Robot integrated program based on group customization and to identify effects on IADL, depression, and attitudes toward robot. This study was nonequivalent control group pre-post test design. The subjects were 40 elders diagnosed with mild dementia participating in the dementia center daily program (20 in the experimental group and 20 in the control group). Each session lasted for 30 minutes, twice a week during 6 weeks. Data were collected from July 16 to November 7, 2019, and were analyzed using SPSS WIN 22.0 program to identify differences between groups for variables. After the program, the experimental group improved in IADL, depression, but there were no significant differences between the two groups. In attitude toward robot, the experimental group showed positive change to the robot, but the control group showed negative change to it, also there was a significant difference between the two groups. Findings indicate that integrated program using Dementia-Care-Robot has potential as a strategy to improve the symptoms of dementia and to delay the progression. It needs to be applied in the medical field through convergent approach of engineering.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.1603-1608
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• 2008

Powered robotic exoskeletons are currently under development for assisting or supporting human muscle power. Many applications using this system for the purpose of national defense system, medical support, and construction industry are now frequently introduced. In this paper, we proposed the exoskeletal wearable robotics for construction workers. First, we analyzed general work conditions at the construction site and set up target tasks through the datum. Then dominant muscles’ activity which is related with the defined target tasks was checked up. Herein, wearers’ intent signal generation methodology was introduced in order to effectively activate the proposed system. In the final part of this paper, we evaluated the capability and feasibility of the exoskeletal robotics by the electromyography (EMG) signal variance; demonstrated that robotic exoskeletons controlled by muscle activity could be useful way of assisting with construction workers.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1621-1623
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• 1997

Use of teaching pendant is the most widespread and economical way to teach desired motion to robots. It is also very primitive,time consuming and ineffective way of teaching which has not changed since the early days of robot. In order to reduce the teaching effor, a new efficient form of teaching is needed. Also, the recent robotics research trend into service robots such as home robot, nurse robot and medical robot calls for a new teaching method which is both easy and inexpensive. In this paper, the design and operation principle of a low cost force/moment sensor is presented. The proposed sensor architecture is so simple and inexpensive that it opens the prospect for a new paradigm of robot teaching which is easy and efficinet. Other prospective areas of application are tele-manipulation of robots wher it can be used in master arm, and virtual environment where it can be used as an user input device.