• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.456-458
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• 2004

Recent medical robot systems perform surgery operations, by following the preplanned trajectory and surgical procedures. Depending on the complexity of surgery operations, they are operated in manual, semi-automatic or full automatic mode. To improve the performance of those medical robot systems, development of the simulator and more advanced auto-illumination system, in which intensity of light, direction and focal point can be controlled automatically according to the varied environments during surgical operations. are required. Therefore, in this paper, the simulator for SPINEBOT system which is a computer-intergrated robotic surgery system are developed. And further, an auto-illumination system which will be integrated to the SPINEBOT system is investigated and its preliminary design is described.

• Journal of Biomedical Engineering Research
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• v.41 no.4
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• pp.154-164
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• 2020

Various simulator systems for surgery training have been developed and recently become more widely utilized with technology advancement and change in medical education adopting actively simulation-based training. The authors have developed tissue-instrument interaction modeling and graphical simulation algorithms for an arthroscopic surgery training simulator system. In this paper, we propose algorithms for basic surgical techniques, such as cutting, shaving, drilling, grasping, suturing and knot tying for rotator cuff surgery. The proposed method constructs a virtual 3-dimensional model from actual patient data and implements a real-time deformation of the surgical object model through interaction between ten types of arthroscopic surgical tools and a surgical object model. The implementation is based on the Simulation Open Framework Architecture (SOFA, Inria Foundation, France) and custom algorithms were implemented as pulg-in codes. Qualitative review of the developed results by physicians showed both feasibility and limitations of the system for actual use in surgery training.

• Journal of the Korea Computer Graphics Society
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• v.26 no.1
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• pp.1-6
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• 2020

Patella surgery of small animal is an important veterinary surgery that the veterinarian should saw and drill the dislocated patella in order to fix the corrected position. However, the animal protection laws restrict the veterinarian students' chances for the practice and training of the patella surgery. This paper proposed a haptic based patella surgery simulator for veterinarian students. We modelled force feedback methods in order to provide best similar haptic feedbacks to the real drilling feedbacks in the patella surgery. The proposed patella drilling simulator provides haptic interface as a drill and a workbench in order to provide best surgery experiences. We conducted the performance evaluations in order to prove usability of the proposed patella surgery interface.

• Oral Biology Research
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• v.42 no.4
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• pp.235-240
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• 2018

Standard oral and maxillofacial three-dimensional model was developed with patients' medical data while virtual reality (VR) simulator was developed in conjunction with head mount display (HMD) and Haptic device. The objective of this study was to evaluate the preclinical use of a VR training simulator in tooth preparation practice. Eighty-nine dental students were trained how to operate the simulator. The participants were then given sufficient time on the simulator to practice dental preparation. The students experience and opinion was then taken in through filling of questionnaires. On average content received 1.8 points, anatomy had 2.5 points, 2.6 points for the applicability, and 2.0 for the usability. As for the detailed items scores, queries about the possible development of the simulator and the interest of the learning process through the simulator were the highest at 3.1 and 3.0 points, respectively. Question about the benefit of the HMD and the haptic device during the practice had 1.5 and 1.6 points, respectively. The average total score was 2.2 points. VR tooth preparation simulator in the field of clinical dental education has powerful potential in regard to realistic models, environments, vision, posture, and economical efficiency.

• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.316-322
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• 2020

Endoscopic spine surgery is an advanced surgical technique for spinal surgery since it minimizes skin incision, muscle damage, and blood loss compared to open surgery. It requires, however, accurate positioning of an endoscope to avoid spinal nerves and to locate the endoscope near the target disk. Before the insertion of the endoscope, a guide needle is inserted to guide it. Also, the result of the surgery highly depends on the surgeons' experience and the patients' CT or MRI images. Thus, for the training, a number of haptic simulators for spinal needle insertion have been developed. But, still, it is difficult to be used in the medical field practically because previous studies require manual segmentation of vertebrae from CT images, and interaction force between the needle and soft tissue has not been considered carefully. This paper proposes AI-based automatic vertebrae CT-image segmentation and haptic rendering method using the proposed need-tissue interaction model. For the segmentation, U-net structure was implemented and the accuracy was 93% in pixel and 88% in IoU. The needle-tissue interaction model including puncture force and friction force was implemented for haptic rendering in the proposed spinal needle insertion simulator.

• Archives of Plastic Surgery
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• v.44 no.3
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• pp.223-227
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• 2017

Background Carpal tunnel release is one of the most common surgical procedures performed by hand surgeons. The authors created a surgical simulation of open carpal tunnel release utilizing a mobile and rehearsal platform app. This study was performed in order to validate the simulator as an effective training platform for carpal tunnel release. Methods The simulator was evaluated using a number of metrics: construct validity (the ability to identify variability in skill levels), face validity (the perceived ability of the simulator to teach the intended material), content validity (that the simulator was an accurate representation of the intended operation), and acceptability validity (willingness of the desired user group to adopt this method of training). Novices and experts were recruited. Each group was tested, and all participants were assigned an objective score, which served as construct validation. A Likert-scale questionnaire was administered to gauge face, content, and acceptability validity. Results Twenty novices and 10 experts were recruited for this study. The objective performance scores from the expert group were significantly higher than those of the novice group, with surgeons scoring a median of 74% and medical students scoring a median of 45%. The questionnaire responses indicated face, content, and acceptability validation. Conclusions This mobile-based surgical simulation platform provides step-by-step instruction for a variety of surgical procedures. The findings of this study help to demonstrate its utility as a learning tool, as we confirmed construct, face, content, and acceptability validity for carpal tunnel release. This easy-to-use educational tool may help bring surgical education to a new- and highly mobile-level.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.945-946
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• 2011

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
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• v.36 no.1
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• pp.23-27
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• 2010

The purpose of this study was to evaluate the reliability of 6-axis model surgery simulator (6AMSS) for orthognathic surgery. A rectangular parallelepiped plastic block was assembled to model-mounting plate of 6AMSS. Left-right (X), anterior-posterior (Y), up-down (Z) translation and pitching (${\phi}X$), rolling (${\phi}Y$) and yawing (${\phi}Z$) rotation was planned and performed using 6AMSS. The actual translation and rotation were measured with dial gauge and precisional protractor, respectively. Comparison between the planned and actual movements of plastic block for each variable were made using paired t- test. Statistical analysis for X, Y, Z, ${\phi}X$, ${\phi}Y$ and ${\phi}Z$ movement have shown no significant differences between planned and actual movement (P > 0.05). This indicate that model surgery performed with the aid of the 6AMSS is accurate in 3D translation and rotation. The 6AMSS is practically useful for accurate fabrication of surgical splint for orthognathic surgery.

• Biomaterials and Biomechanics in Bioengineering
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• v.3 no.1
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• pp.15-26
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• 2016

Based on a survey done recently in Japan, 30 percent of the serious accidents occurred in oral implant surgery were concerned with the mandibular canal and 3/4 of them were related to drilling. One of the reasons lies in the lack of the education system. To overcome this problem, a new educational system focusing on drilling the mandibular trabecular bone has been developed mainly for dental college students in the form of an oral implant surgery training simulator that enables student to sense the reaction force during drilling. On the other hand, the conventional system uses polymeric model. Based on these systems, two approaches were proposed; the evaluation by experienced clinicians using the simulator, and experimental works on the polymeric model. Focusing on the combination of the drilling force sensed and drilling speed obtained through both approaches, the results were compared. It was found that the polymeric models were much softer especially near the mandibular canal. In addition, the study gave us an insight of the understanding in bone quality through tactile sensation of the drilling force and speed. Furthermore, the clinicians positively reviewed the simulator as a valid tool.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.8
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• pp.883-888
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• 2011

Laparoscopic surgery is being used in various surgical fields because it minimizes scarring. Laparoscopic operations require practical hand skills, so surgeons train on animals and via surgery training tool sets. However, these tool sets do not give the surgeon the sensation of touching real organs. A recently developed laparoscope simulator has a high friction force along the translational axis and a high gravity force along the pitch axis, and therefore it does not permit the operator to control his or her hands delecately. In the paper, the friction force along the axes is auumed to depend on the veolcity, and the gravity force on the angle and distance. We develop a compensation model that combines the gravity and friction force models.