• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1036-1041
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• 2003

Non-destruction examinations are required in medical sciences and various engineering now. We wish to emulate the examinations in very simplified experiments. It is an educational program. We show a neural network analysis to predict the locations of a sound-source or a body irradiated by sound-waves in audio-region. The sound is an interest flux, and it enables to clear local-structures in a non-transparent space. However, the sound-propagation equations are not solved easily, therefore, we consider to adopt multi-layer neural-networks instead of the direct solutions. We used detected intensities and coordinates for input data and teaching data. A neural network learned them. The neural-network analysis decomposed the distance of 50cm. The resolution is rather rough; however, it is caused by the limitation of our equipments. Since there is no problem in the neural network processing, if we could revise experiments, then, progress of the resolution would be got. Thus, the proposed method functioned as an educational and simplified non-destruction examination.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2356-2361
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• 2003

Proteome research in the medical field is expected to accelerate the understanding of disease mechanism, and to create new diagnostic concept. For protein profiling, this paper proposes a new methodology named CPDIB (Crude Protein Direct Blotting). In the CPDIB procedure, crude protein sample is directly immobilized on a membrane and the expression of protein molecules in the sample are analyzed quantitatively by using a special device called ImmobiChip, where the membrane is used as a field of the immune reaction. The over-all structure of the ImmobiChip is based on the conventional Slot blot device. Mechanical improvement in the air-tightness of the case holding the membrane realizes the direct blotting and results in high performance of stability in the immune reaction. In the measurement of multiple proteins, a dispensing robot is used for increasing the efficiency of handling of liquid. Cooperation of the dispensing robot with the ImmobiChip for immobilizing proteins realizes automated and stable performance of the CPDIB procedure. This paper shows the evaluation of the air-tightness of the ImmobiChip, the ability of analyzing proteins using the CPDIB procedure and the performance of the automated equipment.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.165-170
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• 2004

The purpose of this work was to assess and quantify the beneficial effects of long-term gas exchange, at varying frequencies, for the development of a vibrating intravascular lung assistance device (VIVLAD), for patients suffering from acute respiratory distress syndrome (ARDS). The experimental design and procedure have been applied to the construction of a new device for assessing the effectiveness of membrane vibrations. An analytical solution has been developed for the hydrodynamics of flow through a bundle of sinusoidally vibrated hollow fibers, with the intention of gaining insight into how wall vibrations might enhance the performance of the VIVLAD. As a result, the maximum oxygen transfer rate was reached at the maximum amplitude and through the transfer of vibrations to the hollow fiber membranes. The device was excited by a frequency band of 7Hz at various water flow rates, as this frequency was the 2nd mode resonance frequency of the flexible beam. 675 hollow fiber membranes were also bundled, within the blood flow, into the device.

• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.68-70
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• 2008

Since the beginning of the 21st century, the emergence of innovative technologies made further advances in minimal access surgery possible. Robotic surgery and telepresence surgery effectively addressed the limitations of laparoscopic procedures, thus revolutionizing minimal access surgery. Surgical robots provide surgeons with to technologically advanced vision and hand skills. As a result, such systems are expected to revolutionize the field of surgery. In that time, much progress has been made in integrating robotic technologies with surgical instrumentation. However, robotic surgery will not only require special training, but it will also change the existing surgical training pattern and reshape the learning curve by offering new solutions, such as robotic surgical simulators and robotic telementoring. This article provides an introduction to medical robotic technologies, develops a possible classification, reviews the evolution of a surgical robot, and discusses future prospects for innovation. In the future, surgical robots should be smaller, less expensive, easier to operate, and should seamlessly integrate emerging technologies from a number of different fields. We believe that, in the near future as robotic technology continues to develop, almost all kinds of endoscopic surgery will be performed by this technology.

• Electronics and Telecommunications Trends
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• v.35 no.5
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• pp.112-122
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• 2020

In 3D computer graphics, a depth map is an image that provides information related to the distance from the viewpoint to the subject's surface. Stereo sensors, depth cameras, and imaging systems using an active illumination system and a time-resolved detector can perform accurate depth measurements with their own light sources. The 3D image information obtained through the depth map is useful in 3D modeling, autonomous vehicle navigation, object recognition and remote gesture detection, resolution-enhanced medical images, aviation and defense technology, and robotics. In addition, the depth map information is important data used for extracting and restoring multi-view images, and extracting phase information required for digital hologram synthesis. This study is oriented toward a recent research trend in deep learning-based 3D data analysis methods and depth map information extraction technology using a convolutional neural network. Further, the study focuses on 3D image processing technology related to digital hologram and multi-view image extraction/reconstruction, which are becoming more popular as the computing power of hardware rapidly increases.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.49-51
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• 2005

Robot control involves advance programming, scientific and high technology. The systematic and methodological aspects of robot controls often results in having superficial control design problems that can negatively affect the robot application, usability and appeal. User friendly interface of robot control is extremely advantageous and more attractive. To illustrate, the application of medical robot is usually handled by clients who have little background in advance programming language. Thus, it would be difficult if the client needs to use programming language to control the robot. It would justify better if the robot control is presented in a meaningful interface to the client. This way the robot application would be more natural and user friendly. This paper describes the method of developing the user interface for web based communication to control an internet robot named Tarou. The web based communication tasks involves three levels. The first one accommodates on the client sending commands to robot through the internet. The next communication level relates to the robot receiving the commands sent by the client. The final communication level generates on sending feedback on status of commands by the robot to the client. The methodology used here can be elaborated in four hierarchical steps; identify user needs and robot tasks, identify the enhancing tag reference used by the server, induce the tag into HTML, present the HTML in attractive user interface as the client control panel.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.57-61
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• 2005

This paper presents a new colonoscopy training simulator that includes a specialized haptic device and graphics algorithms to transfer haptic sensation through a long and flexible tube, and manage large number of polygons. The developed haptic device makes the colonoscope tube move along the two guiding rods in the translational direction. The torque of the roll motion is transferred by a timing belt and pulleys. A special guide is developed, which allows the force and torque from the motors to be transmitted to the user without loss. The haptic device is evaluated by physicians. One of the important skills of the colonoscopy, jiggling is incorporated for the first time by the developed sensor mechanism using photo-sensors. A colonoscope handle that shares the look, feel, and functions with the actual colonoscope, is developed with the necessary electronics inside. The number of polygons is reduced by an edge-collapse algorithm for real-time simulation. The algorithms to import CT data, to segment the colon image, to extract centerline of the colon, and to construct the colon surface, are integrated into a Colon Modeling Kit system that performs all these processes in real-time.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2003.07b
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• pp.636-640
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• 2003

As industrial technology was developed, necessity for small size motor was increased on various fields such as medical treatment and robotics. The motor should be simple structure, and it has easy process of manufacture to overcome the limit of miniaturization. So, "the windmill type ultrasonic motor" is enough to satisfy these conditions. In this paper, windmill type ultrasonic motor which was proposed by B.Koc and K.Uchino, was analyzed and fabricated with modified endcap shape. Displacements of arms of the proposed endcap were compared with the previous endcap, using the finite element analysis program (ANSYS). Better rotational characteristics was expected in proposed model as result of FEA. Experimentally, rotary motors of 3.5 [cm] diameter were fabricated, and the speed and torque of the motor were measured. As a result, speed and torque were changed in proportion to the electrical input voltages. And low efficiency which was different from an expectation was obtained in this motor. So, various problems should be improved for practical use.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.209-213
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• 1997

This paper deals with sensing ability of $2^{nd}$ smart sensor that has a sensing ability of distinguish materials. We have developed new signal processing method that have distinguish different materials. We made the $2^{nd}$ smart sensor for experiment. The second type of smart sensor is HH type. We have developed a new signal processing method that can distinguish among different materials. The estimation method (RSAIIn dex) is developed for $2^{nd}$ smart sensor(HH smart sensor). Experiment and analysis are executed for estimation the new method. We estimated sensing ability of $2^{nd}$ smart sensor with RsA, method. Sensing Ability of the $2^{nd}$ smart sensor were evaluated relatively through a new RsAl method. According to frequency changing, influences of the $2^{nd}$ smart sensor are evaluated through a new recognition index RSAI. Applications of this method are for finding abnormal conditions of objects (automanufacturing), feeling of objects (medical product), robotics, safety diagnosis of structure, etc.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.248-251
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• 1995

Nowadays, the internal images of a human body can be easily provided by the ultrasound imaging, the X-ray CT, or the MRI device, among which the ultrasound imaging device has good resolution for soft tissues of a human body compared with the other devices. Furthermore, the use of ultrasound imaging devices will increase in future especially in the obstetrics, territory, since it does not give harm to the human body. Although several techniques have been investigated until now in order to extract organs from ultrasound images, very few of them have achieved satisfactory results because of low contrast and high noise nature of images. This paper proposes a technique for automatic extraction of the gall bladder area from ultrasound images. The proposed technique first extracts a small reliable area of a gall bladder from an ultrasound image employing smoothing, binarization, expanding and shrinking, and labeling, and then expands the area referring to the binarized version of the original image. The technique is examined its performance by real ultrasound images of a gall bladder and satisfactory results are obtained. Some problems to be solved are discussed finally.