• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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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.

• 대한의용생체공학회:의공학회지
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• 제41권4호
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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.

• 한국컴퓨터그래픽스학회논문지
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• 제26권1호
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• pp.1-6
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• 2020

소동물의 슬개골 수술은 인간의 뼈보다 약하여 수술의 난이도가 어렵기 때문에, 소 동물의 슬개골 탈구 치료 수술 과정의 학습은 수의사에게 매우 중요하다. 소 동물의 슬개골 수술 훈련은 사체를 이용한 훈련을 하고 있으나 소 동물의 사체가 부족하기 때문에 시청각 자료나 수술 참관으로 수술을 학습하고 있어 수의학과 학생 및 전문 수의사들에게 충분한 훈련 환경이 제공되지 못하는 상황이다. 본 논문에서는 이러한 문제를 해결하기 위하여 소동물의 슬개골 수술을 위한 햅틱 시뮬레이터를 제안한다. 제안한 시뮬레이터는 슬개골 드릴링 수술에 적용시켰으며 소동물의 드릴링에 대한 Force Feedback을 모델링하고 햅틱 인터페이스를 제공하고, 사용자가 몰입하여 수술 경험을 할 수 있는 워크 벤치를 제공하였다. 본 논문에서 제안된 슬개골 햅틱 시뮬레이터가 제공하는 드릴링 과정에서 햅틱 피드백에 대한 사용자 평가 결과 유의미한 결과를 얻을수 있었다.

• 구강생물연구
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• 제42권4호
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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.

• 로봇학회논문지
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• 제15권4호
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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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• 제44권3호
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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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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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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• 제36권1호
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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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• 제3권1호
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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.

• 대한기계학회논문집A
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• 제35권8호
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• pp.883-888
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• 2011

복강경을 이용한 수술법은 입원 기간 단축 및 상처의 감소라는 장점이 있지만 수술 도구 끝단의 움직임의 제한으로 인한 수술 난이도의 증가라는 단점이 있다. 이를 숙련시키기 위해 동물을 이용하여 대체수술을 하거나, Surgery training tool set을 이용하여 조작 기술 습득을 위한 훈련을 하고 있다. 하지만 이 방법들은 사람에게서 느껴지는 촉감을 그대로 재현하지 못한다. 따라서 본 논문은 4-자유도계의 복강경 수술 의료 훈련 시뮬레이터를 통해 원활한 햅틱 피드백을 제공하였다. 햅틱 장비의 기본 요구조건인 무중력, 무마찰 상태를 만족시키기 위해 장비의 중력 및 마찰력을 측정하였다. 이를 위해 의료 시뮬레이터의 모델링을 하여 시술기에 작용하는 중력과 마찰력을 측정하고 이를 선형화 시킨후 이를 토대로 보상기를 모델링하고 이를 검증하였다.