• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.2
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• pp.299-306
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• 2016

In this paper, a method of shape prediction of an endoscope handling robot that can imitate a surgeon's behavior using a sensor network is suggested. Unit sensors, which are composed of a 3-axis magnetometer and 3-axis accelerometer pair comprise the network through CAN bus communication. Each unit of the sensor is used to detect the angle of the points in the longitudinal direction of the robot, which is made from a flexible tube. The signals received from the sensor network were filtered using a low pass Butterworth filter. Here, a Butterworth filter was designed for noise removal. Finally, the Euler angles were extracted from the signals, in which the noise was filtered by the low path Butterworth filter. Using this Euler angle, the position of each sensor on the sensor network is estimated. The robot body was assumed to consist of links and joints. The position of each sensor can be assumed to be attached to the center of each link. The position of each link was determined using the Euler angle and kinematics equation. The interpolation was carried out between the positions of the sensors to be able to connect each point smoothly and obtain the final posture of the endoscope in operation. The experimental results showed that the shape of the colonoscope can be visualized using the Euler angles evaluated from the sensor network suggested and the shape of serial link estimated from the kinematics chain model.

• Proceedings of the KSME Conference
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• 2001.11a
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• pp.716-722
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• 2001

In this paper, the modeling and control of electrostrictive polymer is introduced for endoscopic microcapsule. The endoscopic microcapsule works in the body, so the material of robot must be no harmful to the body. The electrostrictive polymer satisfies this condition. The modeling and control of endoscope microcapsule must be processed. So the modeling and control of electrostrictive was processed preferentially. The electrostrictive polymer is so flexible that we considered the electrostrictive polymer as flexible membrane. The dynamic equation of flexible membrane is time variant in electrostrictive polymer. It is the reason that the elastic modulus of electrostrictive polymer is very small and changes as deformation of electrostrictive polymer. The control algorithm must overcome these characteristics. So the algorithm of adaptive fuzzy control was used to control. In this paper, we introduced the dynamic modeling and control of electrostrictive polymer. And its deformation is introduced.

• Pediatric Gastroenterology, Hepatology & Nutrition
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• v.8 no.2
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• pp.172-176
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• 2005

Purpose: There have been a few data about esophageal length in children and previous data are improper for application to various procedures. Because of the variability in height and weight of each the individuals especially in children, measurable external parameters are needed. Methods: We measured distance from upper incisor to esophago-gastric junction using a flexible endoscope and compared these data with age, height and weight in 262 children who underwent upper gastrointestinal endoscopy. Results: The mean age was $9.0{\pm}3.6year$ (from 2 days to 16 year of age), mean height was $132.89{\pm}23.49cm$ and mean length from upper incisor to esophago-gastric junction was $33.34{\pm}5.42cm$. Correlation between distance from upper incisor to esophago-gastric junction and height was the mostly predictable indicator of the esophageal length (Pearson correlation=0.944). We propose a formula [Esophageal length=4.419+($0.218{\times}height$)] as a indicator of the esophageal length (p=0.000, $R^2=0.891$). Conclusion: The esophageal length in children and for application to various procedures can be reliably predicted by using the height.

• Clinical and Experimental Pediatrics
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• v.45 no.4
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• pp.459-465
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• 2002

Purpose : The aim of this study was to evaluate the latest tendency of esophageal foreign body's extraction and to obtain a consensus from recent trends of indications and techniques of flexible endoscopy of esophageal FB in children. Methods : We retrospectively reviewed medical records of 127 cases with foreign bodies in esophagus at Dept. of Pediatrics and Otorhinolaryngology, Gyeongsang National University Hospital (GNUH) from Jun, 1987 to July, 2001. They were divided into two groups by the kinds of endoscopy : flexible endoscope(66 cases) or rigid endoscope(61 cases). Rigid endoscopy was performed under general anesthesia at Dept. of Otorhinolaryngology but flexible endoscopy was performed without general anesthesia or sedative drugs(midazolam or diazepam). Results : An annual number of cases of two groups were similar from 1991 to 1998. But from 1999, flexible endoscopy was performed actively. Asymptomatic cases were frequently observed in flexible endoscopy(28 cases/66 cases) but swallowing difficulties were frequently observed in the rigid endoscopy group(25 cases/61 cases). Other symptoms were vomiting, irritability, chest discomfort and abdominal pain. The total number of cases with underlying disease(esophageal stenosis, cerebral palsy) was 8. The total number of cases with complications (erosion, ulcer, bleeding, perforation) was 11. The above cases were not correlated between the two groups. In 55 cases(83.3%) of the flexible endoscopic group and 53 cases(86.8%) of the rigid endoscopic group, foreign bodies in the esophagus were removed within 24 hours. Conclusion : We could not find any benefit in rigid endoscopic technique. Flexible endoscopic FB removal can be performed safely and effectively in children by an experienced endoscopist.

• Proceedings of the Korean Society of Veterinary Clinics Conference
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• 2009.10a
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• pp.262-262
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• 2009

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.3
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• pp.345-355
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• 2014

Since the beginning of the 21st century, emergence of innovative technologies in robotic and telepresence surgery has revolutionized minimally access surgery and continually has advanced them till recent years. One of such surgeries is endoscopic surgery, in which endoscope and endoscopic instruments are inserted into the body through small incision or natural openings, surgical operations being carried out by a laparoscopic procedure. Due to a vast amount of developments in this technology, this review article describes only a technological state-of-the arts and trend of endoscopic robots, being further limited to the aspects of key components, their functional requirements and operational procedure in surgery. In particular, it first describes technological limitations in developments of key components and then focuses on the description of the performance required for their functions, which include position control, tracking, navigation, and manipulation of the flexible endoscope body and its end effector as well, and so on. In spite of these rapid developments in functional components, endoscopic surgical robots should be much smaller, less expensive, easier to operate, and should seamlessly integrate emerging technologies for their intelligent vision and dexterous hands not only from the points of the view of surgical, ergonomic but also from safety. We believe that in these respects a medical robotic technology related to endoscopic surgery continues to be revolutionized in the near future, sufficient enough to replace almost all kinds of current endoscopic surgery. This issue remains to be addressed elsewhere in some other review articles.

• Journal of Animal Science and Technology
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• v.59 no.3
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• pp.5.1-5.10
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• 2017

Background: Bovine respiratory disease (BRD) is one of the leading causes of economic losses in the beef and dairy industry. Reliable antemortem tools for diagnosing BRD would improve the efficacy of treatment and reduce costs. Here we examined whether the relatively simple technique of thoracoscopy can support BRD diagnosis under field conditions. We also compared various equipment set-ups in order to optimize the safety and efficacy of the procedure. A total of 24 thoracoscopic procedures were performed in 17 calves diagnosed with BRD and in 2 healthy control calves. Rigid and flexible endoscopes and industrial videoscopes were tested using various insertion approaches. The suitability of the technique was assessed in terms of duration, volume of air extracted, visualization score, and image quality. Safety was assessed in terms of rectal temperature, body weight, breaths/min, presence of fibrinogen, pain score, recovery time, intraoperative complications and risk of laceration or threatening collapse. Results: Insertion of a flexible endoscope via a right, dorso-caudal approach at the $5^{th}$ intercostal space allowed complete examination of the right lung in 15 min, as well as identification of main lung lesions and adherences in calves with BRD, without compromising calf welfare. While the dorso-caudal approach was optimal, it was associated with substantial discomfort when rigid endoscopes were used, minimal complications or mortality due to thoracoscopy were observed up to 28 days after the procedure. Videoscopes were as safe and easy to use as endoscopes, but endoscopes provided better image quality. Conclusion: This study provides the first field evidence that thoracoscopy can be safe to explore BRD-diseased calves. These results justify a larger study to rigorously assess the diagnostic performance of the technique.

• Archives of Plastic Surgery
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• v.47 no.2
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• pp.178-181
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• 2020

In this report, we present a case in which good results were achieved by treatment using a free jejunal patch graft with virtual endoscopy (VE) assistance in a patient whose swallowing had failed to improve for 40 years after he mistakenly swallowed sulfuric acid, despite pectoralis major myocutaneous flap grafting and frequent balloon dilatation surgery. During the last 20 years, virtual computed tomography imaging has improved remarkably and continues to be used to address new challenges. For reconstructive surgeons, the greatest advantage of VE is that it is a noninvasive modality capable of visualizing areas inaccessible to a flexible endoscope. Using VE findings, we were able to visualize the 3-dimensional shape beyond the stenosis. VE can also help predict the area of the defect after contracture release.

• Clinical and Experimental Reproductive Medicine
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• v.20 no.1
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• pp.95-98
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• 1993

Salpingoscopy may be helpful in the diagnosis of subclinical epithelial, vascular damage and stricture formation, which may playa significant role in infertility, or predispose women to tubal pregnancy, despite of clear demonstration of tubal patency on hysterosalpingogram. We explored the fallopian tube from the fimbriae to the ampullary-isthmic junction with small rigid flexible endoscope during laparoscopy in sixteen patients from July 1991 to Jan. 1992. All patients have been observed following salpingoscopy for several months. Three pregnancies were achieved in seven patients with bilaterally normal or minimally damaged tubal mucosa. In another five patients with moderate to severe tubal damage, we noted one tubal pregnancy. The other remaining patients are being followed up now. As conclusions, salpingoscopy seems to be an useful tool in the diagnosis of tubal lesions which are not identified by H.S.G., give much help to refine the indications for tubal microsurgery and the selection of patients for GIFT or IVF-ET and to determine the prognostic value in terms of risk for ectopic pregnancy.

• Journal of Veterinary Clinics
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• v.24 no.1
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• pp.29-31
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• 2007

A thirty-month-old male Moluccan Cockatoo (Cacatua moluccansis) with mild anorexia was referred. Through physical examination, fireign body was palpated at the crop region. Radiopaque, lineal foreign body was visualized on the lateral radiographs of the thoracic esophageal region. The patient was definitively diagnosed esophageal foreign body which is ingested feeding tube. The foreign body removal was undertaken using a flexible endoscope and a grasping forcep without any other complications. This case report demonstrated that successful esophageal foreign body removal with endoscopy in birds.