• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1631-1634
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• 1997

Since surgery is usually a difficult task because of physiological tremor, eye strain, and tremor, contagious and radioactive hazard, it is necessary to develop micro-surgery telerobotic system using improved tools suitable for their specific tasks. Nowadays the growth of interest on microsurgery and medical applications of robotics has been so rapid. But the medical robots are only practical applications of the industrial robots. This paper identifies five general areas of advanced microsurgery based on the current technological background and expertise, and analyzes the motion, tool and accuracy with respect to microsurgery task, and proposed the criteria to evaluate micro-surgical manipulator. The analysis of microusrgery can be heplful to clarify some basic concept and design of micro-surgical manipulators. With these data we will alos propose an efficient in-parallel-platform manipulator having special kinematic structrue structure suitable for microsurgery.

• The Journal of Korea Robotics Society
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• v.12 no.3
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• pp.322-331
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• 2017

In this paper we present a novel robotic palpation method for the lump shape estimation using contact pressure distribution. Many previous researches about the robotic palpation have used a stiffness map, which is not suitable to obtain geometrical information of a lump. As a result, they require a large data set and long palpation time to estimate the lump shape. Instead of using the stiffness map, the proposed palpation method uses the difference between the normal force direction and the surface normal to detect the lump boundary and estimate its normal. The palpation trajectory is generated by the normal of the lump boundary to track the lump boundary in real-time. The proposed approach requires small data set and short palpation time for the lump shape estimation since the shape can be directly estimated from the optimally generated palpation trajectory. An experiment result shows that our method can find the lump shape accurately in real-time with small data and short time.

• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.172-178
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• 2021

The COVID-19 pandemic has been reshaping the world by accelerating non-contact services and technologies in various domains. Hospitals as a healthcare system lie at the center of the dramatic change because of their fundamental roles: medical diagnosis and treatments. Leading experts in health, science, and technologies have predicted that robotics and artificial intelligence (AI) can drive such a hospital transformation. Accordingly, several government-led projects have been developed and started toward smarter hospitals, where robots and AI replace or support healthcare personnel, particularly in the diagnosis and non-surgical treatment procedures. This article inspects the remaining element of healthcare services, i.e., surgical treatment, focusing on evaluating whether or not currently available laparoscopic surgical robotic systems are sufficiently preparing for the era of post-COVID-19 when contactless is the new normal. Challenges and future directions towards an effective, fully non-contact surgery are identified and summarized, including remote surgery assistance, domain-expansion of robotic surgery, and seamless integration with smart operating rooms, followed by emphasis on robot tranining for surgical staff.

• The Journal of Korea Robotics Society
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• v.12 no.4
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• pp.395-401
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• 2017

In this paper, we introduce a robot-assisted medical diagnostic system that enables remote ultrasound (US) imaging to be applied to the conventional telemedicine, which has been possible only with interviewing or a visual exam. In particular, a master-slave robot system is developed that ultrasonic diagnosis specialist can control the position and orientation of US probe in the remote place. The slave robot is designed to be compact, lightweight, and hand-held so that it can easily transfer to the remote healthcare center. Moreover, 6-degree-of-freedom (DOF) probe motion is possible by the robot design based on Stewart platform. The master device is also based on a similar structure of the slave robot. To connect master and slave system in the wide area network (WAN) environment, a hardware CODEC was developed. In this paper, we introduce the detail of each component and the results of the recent experiments conducted in the remote sites by the developed robotic ultrasound imaging system.

• Advances in robotics research
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• v.2 no.1
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• pp.59-68
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• 2018

Autonomous mobile service medical robots (AMSMRs) are one of the promising developments in contemporary medical robotics. In this study, we consider the essential technical and intellectual abilities needed by AMSMRs. Based on expert analysis of the behavior exhibited by AMSMRs in clinics under basic scenarios, these robots can be classified as intellectual dynamic systems acting according to a situation in a multi-object and multi-agent environment. An AMSMR should identify different objects that define the presented territory (rooms and paths), different objects between and inside rooms (doors, tables, and beds, among others), and other robots. They should also identify the means for interacting with these objects, people and their speech, different information for communication, and small objects for transportation. These are included in the minimum set required to form the internal world model in an AMSMR. Recognizing door handles and opening doors are some of the most difficult problems for contemporary AMSMRs. The ability to recognize the meaning of human speech and actions and to assist them effectively are other problems that need solutions. These unresolved issues indicate that AMSMRs will need to pass through some learning and training programs before starting real work in hospitals.

• Communications of the Korean Institute of Information Scientists and Engineers
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• v.26 no.4
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• pp.49-54
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• 2008

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.9
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• pp.918-925
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• 2006

Medical robotics and computer aided surgery in general, and robotic telesurgery in particular, are promising applications of robotics. In this paper, we shows a novel single-master (PHANTOM based single-master multi-slave telerobotic system) multi-slave system using two parallel mechanism micromanipulators as a slave device. After a general introduction to the systems structure and configuration of telerobotic system, a manipulation control strategy to build the system that human and both manipulators perform the cooperative manipulation, is introduced, followed by its kinematic analysis, mapping method, and experimental results.

• 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.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.34 no.6
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• pp.409-415
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• 2021

Medical waste management is becoming increasingly important, specifically in light of the current COVID-19 pandemic, as hospitals, clinics, quarantine centers, and medical research institutes are generating tons of medical waste every day. Previously, a traditional incineration process was utilized for managing medical waste, but the lack of landfill sites, and accompanying environmental concerns endanger public health. Consequently, an innovative sterilization shredding system was developed to resolve this problem. In this research, we focused on the design and numerical analysis of a shredding system for hazardous and infectious medical waste, to establish its operational performance. The shredding machine's components were modeled in a CAD application, and finite element analysis (FEA) was conducted using ABAQUS software. Static, fatigue, and dynamic loading conditions were used to analyze the structural stability of the cutting blade. The blade geometry proved to be effective based on the cutting force applied to shred medical waste. The dynamic stability of the structure was verified using modal analysis. Furthermore, an S-N curve was generated using a high cycle fatigue study, to predict the expected life of the cutting blade. Resultantly, an appropriate shredder system was devised to link with a sterilization unit, which could be beneficial in reducing the volume of medical waste and disposal time, thereof, thus eliminating environmental issues, and potential health hazards.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.13-16
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• 1996

Based on the technical innovation of the recent communication system technologies, systems are linked by the worldwide network. We introduce some examples of the multimedia network systems. Especially, we introduce our recent attempt to realize the multimedia tele-surgery system using high speed optical fiber network. At first, we shows the technical problems of the multimedia tele-surgery. We applied this idea to the intravascular neurosurgery. System configuration for the prototype experiments and experimental results are shown.