• The Journal of Korea Robotics Society
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• v.5 no.3
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• pp.186-196
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• 2010

In this paper, we present a global localization and position error compensation method in a known indoor environment using magnet hall sensors. In previous our researches, it was possible to compensate the pose errors of $x_e$, $y_e$, ${\theta}_e$ correctly on the surface of indoor environment with magnets sets by regularly arrange the magnets sets of identical pattern. To improve the proposed method, new strategy that can realize the global localization by changing arrangement of magnet pole is presented in this paper. Total six patterns of the magnets set form the unique landmarks. Therefore, the virtual map can be built by using the six landmarks randomly. The robots search a pattern of magnets set by rotating, and obtain the current global pose information by comparing the measured neighboring patterns with the map information that is saved in advance. We provide experimental results to show the effectiveness of the proposed method for a differential drive wheeled mobile robot.

• Journal of Biomedical Engineering Research
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• v.20 no.2
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• pp.139-148
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• 1999

In this paper, we designed the dental surgery system based on PC. This system predict post operated 3-dimensional image, So the patient has no need to take CT after surgery and expose his body to radiological damage. We predict the post operated skull from the patient's CT with pre and post cephalometry X-ray. Our novel procedures, to register X-ray and CT, are based on anatomical landmarks, singular value decomposition. And we display the predicted image 3-dimensionally by surface rendering. We verified this system by dry skull experiment and clinical experiment. When significance level is 0.05, there is on significance.

• Physical Therapy Korea
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• v.14 no.2
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• pp.61-67
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• 2007

The purpose of this study was to examine inter- and intra-examiner reliability of the sacroiliac joint (SIJ) anatomical landmarks palpation. Two physical therapists and one doctor specializing in rehabilitation examined 22 asymptomatic subjects. They examined anterior superior iliac supine (ASIS), posterior superior iliac supine (PSIS) and iliac crest (IC). For the assessment of intra-examiner reliability, 3 examiners repeated the measurements 3 times over a 2-week interval. Kappa (Kg) yielded intra-examiner reliability that ranged between slight to fair for the ASIS (Kg=.06 to .26; mean Kg=.19), and slight for the PSIS(Kg=-.04 to .18; mean Kg=.07) and slight to fair for the IC (Kg=.06 to .32; mean Kg=.21). Inter-examiner reliability was slight (ASIS Kg=.13; PSIS Kg=.05; IC Kg=.14). These results suggest that the reliability of the assessing SIJ anatomical landmarks using palpation and observation as an indication of SIJ dysfunction still remains questionable. Before this test can be relied upon as an accurate indicator of SIJ dysfunction, it must undergo further research. This further research needs to examine not only reliability, but also validity, sensitivity and specificity.

• Korean Journal of Head & Neck Oncology
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• v.22 no.1
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• pp.29-32
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• 2006

Background: The location of parotid gland tumors can influence the duration and the difficulty of the operation. If the information about tumor location was available preoperatively, it would allow accurate operative planning and counseling of patients in terms of the length of the operation and the potential morbidity. Methods: This study was based on a retrospective review of 100 patients with parotid gland tumors underwent parotidectomy from January 2000 to October 2005 at Yong-Dong Severance Hospital. Based on computed tomographic(CT) scan findings, 4 landmarks such as facial nerve(FN) line, Utrecht(U) line, Conn's are(CA), and retromandibular vein (RV) were drawn on the scans in same plane. The location of tumors were determined by the landmarks and confirmed by the operative findings. The accuracy of each landmarks was evaluated. To find out the accuracies according to tumor size, the tumors were divided into 2 groups; less than 2 cm and larger than 2 cm in diameter. Results: U line was the most accurate(94%), sensitive(89.3%) and specific(97.7%) in predicting tumor location of the parotid gland. However, in small tumors less than 2cm, FN line (p=0.022) and RV criteria (p=0.028) were more reliable in accuracy. Conclusion: CA, FN line, U line, and RV are all useful landmarks in preoperative prediction for the location of parotid gland tumors. However, U line was the most accurate, but we must consider that proper landmark should be used in prediction according to the size of tumor because the accuracy of landmark may change.

• The korean journal of orthodontics
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• v.41 no.6
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• pp.411-422
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• 2011

Objective: The aim of this study was to evaluate the lip and perioral soft tissue changes after bracket bonding. Methods: The soft tissue changes in 45 adult patients (age greater than 18 years and less than 29 years) without severe skeletal discrepancy were evaluated using three-dimensional images acquired with a laser scanner before and after bracket bonding was performed using 4 types of labial orthodontic brackets. Results: Among the statistically significant changes in distance observed for the landmarks, the biggest change was observed in forward movement. The landmarks on the lateral sides also showed significant changes. While the landmarks on the upper lip showed significant upward movement, those on the lower lip showed significant downward movement. However, the changes were smaller for the landmarks on the upper lip (average, 0.87 mm) than for the landmarks on the lower lip (average, 1.21 mm). The type of bracket used did not significantly affect the soft tissue changes. Conclusions: These findings will help predict soft tissue changes after bracket bonding for orthodontic treatment.

• The Journal of Korean Academy of Prosthodontics
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• v.43 no.1
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• pp.41-51
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• 2005

Statement of problem. Anatomic landmarks have been used in the orientation of occlusal plane and the determination of vertical dimension for edentulous patients. Such as labial vestibules of anterior region and hamular notches, retromolar pads of posterior region are very useful anatomic landmarks for fabrication of occlusion rim because they are to be identified on master casts. Therefore, if average distances between landmarks of maxillae and mandible in dentate subjects are measured and applied, not only occlusal plane but also vertical dimension can be established initially. Purpose. The purpose of this study is to measure vertical distances between anatomic landmarks and to present a guide to the orientation of occlusal plane and the determination of vertical dimension of edentulous patients. Material and method. Upper and lower border-molded casts were made in 93 Korean dentulous subjects, mean age 25 years. Incisal edges of central incisors, bottoms of labial vestibules, hamular notches and the half level of retromolar pads were marked on casts. Measurements of vertical distances from incisal edge of central incisor to the bottom of labial vestibule, between upper and lower bottoms of labial vestibules, from hamular notch to retromolar pad and from hamular notch to the occlusal plane established by the incisal edge of maxillary central incisor and mesiopalatal cusps of both maxillary first molars were made on each cast. Results and conclusion. 1. The mean distance from the incisal edge of central incisor to the bottom of labial vestibule was 20.8mm(SD 1.7) on upper casts and 17.3mm(SD 1.4) on lower casts. 2. The mean distance between both bottoms of labial vestibules of upper and lower casts was 35.0mm(SD 2.7). 3 The mean distance from hamular notch to the half level of retromolar pad was 5.0mm(SD 1.3). 4. The mean distance from hamular notch to occlusal plane was 7.9mm(SD 1.5). 5. Distances from incisal edge of central incisor to labial vestibule on lower casts(P<0.01) and from hamular notch to retromolar pad(P<0.0001) were greater in male than in female.

• Journal of International Society for Simulation Surgery
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• v.2 no.1
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• pp.26-32
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• 2015

Purpose When a surgeon examines the morphology of skull of patient, locations of craniometric landmarks of 3D computed tomography(CT) volume are one of the most important information for surgical purpose. The locations of craniometric landmarks can be found manually by surgeon from the 3D rendered volume or 2D sagittal, axial, and coronal slices which are taken by CT. Since there are many landmarks on the skull, finding these manually is time-consuming, exhaustive, and occasionally inexact. These inefficiencies raise a demand for a automatic localization technique for craniometric landmark points. So in this paper, we propose a novel method through which we can automatically find these landmark points, which are useful for surgical purpose. Materials and Methods At first, we align the experimental data (CT volumes) using Frankfurt Horizontal Plane (FHP) and Mid Sagittal Plane(MSP) which are defined by 3 and 2 cranial landmark points each. The target landmark of our experiment is the anterior nasal spine. Prior to constructing a statistical cubic model which would be used for detecting the location of the landmark from a given CT volume, reference points for the anterior nasal spine were manually chosen by a surgeon from several CT volume sets. The statistical cubic model is constructed by calculating weighted intensity means of these CT sets around the reference points. By finding the location where similarity function (squared difference function) has the minimal value with this model, the location of the landmark can be found from any given CT volume. Results In this paper, we used 5 CT volumes to construct the statistical cubic model. The 20 CT volumes including the volumes, which were used to construct the model, were used for testing. The range of age of subjects is up to 2 years (24 months) old. The found points of each data are almost close to the reference point which were manually chosen by surgeon. Also it has been seen that the similarity function always has the global minimum at the detection point. Conclusion Through the experiment, we have seen the proposed method shows the outstanding performance in searching the landmark point. This algorithm would make surgeons efficiently work with morphological informations of skull. We also expect the potential of our algorithm for searching the anatomic landmarks not only cranial landmarks.

• The korean journal of orthodontics
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• v.54 no.1
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• pp.48-58
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• 2024

Objective: To quantify the effects of midline-related landmark identification on midline deviation measurements in posteroanterior (PA) cephalograms using a cascaded convolutional neural network (CNN). Methods: A total of 2,903 PA cephalogram images obtained from 9 university hospitals were divided into training, internal validation, and test sets (n = 2,150, 376, and 377). As the gold standard, 2 orthodontic professors marked the bilateral landmarks, including the frontozygomatic suture point and latero-orbitale (LO), and the midline landmarks, including the crista galli, anterior nasal spine (ANS), upper dental midpoint (UDM), lower dental midpoint (LDM), and menton (Me). For the test, Examiner-1 and Examiner-2 (3-year and 1-year orthodontic residents) and the Cascaded-CNN models marked the landmarks. After point-to-point errors of landmark identification, the successful detection rate (SDR) and distance and direction of the midline landmark deviation from the midsagittal line (ANS-mid, UDM-mid, LDM-mid, and Me-mid) were measured, and statistical analysis was performed. Results: The cascaded-CNN algorithm showed a clinically acceptable level of point-to-point error (1.26 mm vs. 1.57 mm in Examiner-1 and 1.75 mm in Examiner-2). The average SDR within the 2 mm range was 83.2%, with high accuracy at the LO (right, 96.9%; left, 97.1%), and UDM (96.9%). The absolute measurement errors were less than 1 mm for ANS-mid, UDM-mid, and LDM-mid compared with the gold standard. Conclusions: The cascaded-CNN model may be considered an effective tool for the auto-identification of midline landmarks and quantification of midline deviation in PA cephalograms of adult patients, regardless of variations in the image acquisition method.

• The korean journal of orthodontics
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• v.32 no.5 s.94
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• pp.313-325
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• 2002

Three-dimensional CT imaging is efficient in examining specific structures in the craniofacial area by reproducing actual measurements through minimization of errors from patient movement and image magnification. Due to the rapid development of digital image technology and the expansion of treatment range a need for developing three -dimensional analysis has become urgent. Therefore the purpose of this study was to evaluate the percentage of error and magnification of three-dimensional CT using a dried skull and Vworks $program^{TM}$ (Cybermed Inc., Seoul, Korea) and also to obtain landmarks that are easy to designate and reproduce in three-dimensional images using the Vmorph-proto $program^{TM}$ (Cybermed Inc., Seoul, Korea). The following conclusions were obtained, 1. In the comparison of actual measurements from the dried skull and the three-dimensional image obtained from the Vworks program, the mean error was 0.99mm and the magnification was 1.04%. 2. Clinically useful hard tissue landmarks from three-dimensional images were Supraorbitale, Lateral orbital margin, Infraorbitale, Nasion, ANS, A point, Zygomaticomaxilla, Upper incisor, Lower incisor, B point, pogonion, Menton, PNS, Condylar inner margin, Condylar outer margin, Porion, Condylion, Gonionl, Gonion2, Gonion3, Sigmoid notch and Basion. 3. Clinically useful soft tissue landmarks from three-dimensional images were Endocanthion, Exocanthion, Soft tissue Nasion, Pronasale, Alare lateralis, Upper nostril point, Lower nostril point, Subnasale, Upper lip point, Cheilion, Stomion, Lower lip center, Soft tissue B, Pogonion, Menton and Preaurale. The Vworks program can be considered a clinically efficient tool to produce and measure three-dimensional images. Most of the hard and soft tissue landmarks proposed above are anatomically important points which are also easily reproducible and designated. These landmarks can be beneficial in three-dimensional diagnosis and the prediction of changes before and after surgery.

• Journal of The Korean Radiological Technologist Association
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• v.25 no.1
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• pp.138-139
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• 1999