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

• Journal of Sensor Science and Technology
• /
• v.26 no.4
• /
• pp.266-273
• /
• 2017

In this research a medical palpation guidance system for minimally invasive surgery (MIS) is proposed. Palpation is a useful tool for identifying a size and location of a lump during a surgery. However, conventional manual palpation is only available in open surgery, so there has been several researches about palpation assistant or guidance system for MIS. The previously developed systems are based on a pressure based or stiffness based approach. These previous approaches have some limitations in increasing complexity of the systems and lack of geometric information about the lump which is more important information for the lump removal than the stiffness information. We propose a palpation guidance system using a novel approach using contact pressure distribution. Since our approach gives the geometry information of the lump as well as the existence information, the operator can easily notice the currently identified lump region and the optimal position for the next palpation. The experiment results show that our approach can offer the geometry information of the lump correctly.

• Korean Journal of Veterinary Research
• /
• v.36 no.4
• /
• pp.941-948
• /
• 1996

The accuracy of rectal palpation and ultrasonography for predicting the presence of a functional corpus luteum in subestrous dairy cows was investigated, using the result of a radioimmunoassay for progesterone in plasma. Luteal status (high or low progesterone concentrations) was diagnosed in 820 cows, using rectal palpation and B-mode transrectal ultrasonography, and the results of rectal palpation and ultrasonography were compared in $2{\times}2$ contingency table with plasma progesterone concentrations. A $2{\times}2$ contingency table analysis allowed the calculation of sensitivity, specificity and predictive values for rectal palpation and ultrasonography. The sensitivity, specificity, predictive value of a positive test and predictive value of a negative test were 81.9%, 67.5%, 79.0% and 71.4% for rectal palpation, and 96.3%, 88.8%, 94.5% and 92.4% for ultrasonography, respectively. The percentages of observed agreement and expected agreement between rectal palpation and ultrasonography were 71.8% and 57.1%, respectively. An evaluation of agreement between rectal palpation and ultrasonography, the value of Kappa was 0.34. It was concluded that a ultrasonography was more sensitive and specific than rectal palpation in predicting the presence of a functional corpus luteum. Therefore, ultrasonographic examination is a reliable method for assessing the functional status of ovarian structures in subestrous dairy cows.

• The Journal of the Society of Korean Medicine Diagnostics
• /
• v.15 no.2
• /
• pp.159-168
• /
• 2011

Objectives: The purpose of this study is to develop the pulse wave analysis model with the palpation pressure and the skin effect. Methods: The position of pulse diagnosis was modeled with elastic string system. The skin was modeled with the elastic string, the palpation pressure with tension in the string, and the blood vessel pressure with external force on the string. Using the wave equation in the physics, the simplified pulse model was transformed to the mathematical model. Results: To the verification of the model, the effects of the palpation pressure and the skin effect were tested. Conclusions: There was optimal palpation pressure, describing the exact vessel pressure pattern and maximizing the amplitude of the skin displacement. For the optimal condition, the increased palpation pressure was needed with the increased skin thickness. Therefore, the developed pulse wave analysis model showed the good results.

• Journal of Oral Medicine and Pain
• /
• v.35 no.3
• /
• pp.213-219
• /
• 2010

Aim: The aims of this study were to survey the frequency of pain to palpation of the occipitofrontalis muscle in a TMD patient group, and to identify patients showing pain to palpation of the occipitofrontalis muscle that is also consistent with patients' headache symptom. Methods: A total of 218 TMD patients ($32.0{\pm}13.1$ years) participated in this study. Patients' symptoms, including headache, were surveyed by questionnaire. Temporomandibular joints, jaw muscles, and pericranial muscles including the occipitofrontalis muscle were examined with digital palpation. Pain to palpation (i.e. tenderness) was scored from 0 to 3 according to the patients' response, and frequencies were calculated of pain to palpation scores for each site of the pericranial muscles. Results: Twelve patients among 218 TMD patients (5.5%) showed pain to palpation (scores of 1, 2) on the occipitalis or frontalis sites, and seven patients (3.2%) had moderate pain (a score of 2) to palpation. Among 218 TMD patients, there was only one patient whose primary symptomatic site of headache corresponded with the result of pain to palpation of the occipitofrontalis muscle. Conclusion: It can be concluded that examination with palpation of the occipitofrontalis muscle could be considered in the evaluation of TMD patients' headache symptom when other factors have been ruled out.

• Journal of Korean Medical classics
• /
• v.30 no.1
• /
• pp.51-55
• /
• 2017

Objectives : Though regional body temperature palpation is one of well stylized diagnosis methods in Huangdineijing, it has not been thoroughly reconstructed. So I tried to find and reconstruct the methods in Huangdineijing to diagnose regional body temperature as a objective sign. Material and Methods : Huangdineijing(in Zhonghuayidian) was used for text search. "Heat(熱)", "Cold and Heat(寒熱)", "Cold and Warmth(寒溫)", "Root and Terminal(本末)" was used as searching keywords. By classifying and analysing searched sentences I reconstructed the original palpation methods. Results : Two types of regional temperature palpation method was found in Huangdineijing. One is the method palpating the Root(origin) points and Terminal points of the meridians, while the other method is that palpating the skin in anterior side of forearm. It was proved that they had been collaboratively used to diagnose the diseases related to meridians and it's collaterals. Conclusions :In the era of Huangdineijing, there was at least two types of regional temperature palpation method and their clinical usage was in complementary relations.

• Journal of Korean Medical classics
• /
• v.25 no.4
• /
• pp.65-83
• /
• 2012

Objective : Studying Naekyung's relation with confirmation of the three segments in the Chongu-mac palpation and the assignments of five vidcera and six entails. Finding the original principles of the segmemt confirmation in the Chongu-mac palpation from Naekyung. Method : Analyzing the relating contents of the Palpation of Chuk-bu and Chongwanchuk-sambu in Somoon, Macyojungmiron. Performing comparative study on the successive doctors' notes. Result : Found that the confirmation of the three segments in the Chongu-mac palpation and the assignments of five vidcera and six entails was originated from Naekyung. The original diagnotic principles of Naekyung are more clearly revealed. Conclusion : Somoon, Macyojungmiron is about the palpation of Chuk-bu. Somoon, Macyojungmiron is the origin of Chongu-mac diagnosis. The method of dividing the three segments in Chongu-mac diagnosis is from Somoon, Macyojungmiron. The Chongu-mac diagnosis should follow the principles found in Naekyung.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
• /
• v.16 no.1
• /
• pp.57-63
• /
• 2010

The palpation of spinous process and transverse process of vertebra are important part of the assesment and treatment from Orthopedic manual therapy. But the palpation area is descriptive differently each of literatures. So we generally got these outcomes. : There are C2, C3, C4 and C6 process as a bony landmarks and these are important part of establish the precise location of pain appears from cervical spine. Even though C7 process regard a prominent part, it is hard to distinguish C6 and process of T1. Thru that differentiation, grab the patient's forehead and try them cervical and hyper-extension check any movement of process or put on the fingers on C7 preocess and check the movement. The palpation of thoracic spine process is the land mark which determines general level orientation in the spine easily, there are T2, T7 spinous process. However, It is depends on how do you test the patient's arm when you palpate it and it can effect on spinous process. The transverse process of C1 is the only spot for palpation in cervical spine, and T1-3, T12 transverse process can palpate it when it stands on the process. The end of T4-6, T11 is placed on middle on vertebra of transverse process and transverse process. T7-9, T10 transverse process is place on same position as spinous process which is upper part of the spine.

• The Journal of Internal Korean Medicine
• /
• v.18 no.1
• /
• pp.86-96
• /
• 1997

We examined clinical and reseach data about abdominal palpation conducted in japanese oriental medicine from the early stages of its medical history to the latest research, so as to introduce it into korean oriental medicine. That is to say, we studied clinical significance and suitable oriental medicine prescription about following : sweat and moistness of abdominal skin ; temperature of abdominal skin ; palpation and visible peristaltic movement ; meteorism ; tonus of the whole rectus abdominis muscle ; local tonus of parts rectus abdominis muscle ; palpitation of abdominal aorta ; resistance tender on pressure in epigastric region, subcostal region, umbilical region, lower abdomen, para-umbilical region, cecal region, sigmoid region and inguinal region ; sound of fluctuating liquid in the epigastric region. The result was that abdominal palpation was an immediately applicable method of clinical diagnosis in oriental medicine, and is being proven by western medicine methodology today. Therefore we suggest that korean oriental medicine would advance greatly if abdominal palpation were applied.

• The Journal of the Society of Korean Medicine Diagnostics
• /
• v.25 no.1
• /
• pp.72-87
• /
• 2021

Objectives This is the review on the Jeolgyeong which means diagnosis method of meridian and acupoints. Detecting method of meridian and acupoints under the disease condition using fingertips were more developed in Japan than in China and Korea. This study is the introduction to the Japanese style palpation method on meridian and acupoints. Methods Firstly the textbook 'Acupuncture medicine' published by the committee of Korean professors' association of acupuncture and moxibustion was analyzed. Especially the contents of the palpation method on meridian and acupoints were focused and summarized and secondly the book describing the palpation method on meridian and acupoints was selected, translated and summarized. Results Until now the knowledge on the acupoints reaction depending on the patient's status, the deficiency pattern and the excessive pattern was rarely described in China and Korea. On the contrary, 4 kinds of reactions in the deficiency pattern and 4 kinds of reactions in the excessive pattern were well described in Japanese literatures. Mild touching, mild pinching, rubbing, mild pressing and severe pressing were also described along the meridians. Except the bladder meridian Back Shu points, Yuan points, Luo points, Xi(cleft) points, Front Mu points were depicted as the same as those in China and Korea. For the bladder meridian lines, 4 lines were organized including 2 lines of Hua-Tuo-Jia-Ji-Xue and the middle line between 1st and 2nd bladder meridian line as well as 1st bladder meridian line and 2nd bladder meridian line. Conclusions Detecting meridians or acupoints and using them for diagnosis and treatment is a method used in China, Korea, and Japan. However, detailed descriptions of the method for detecting meridians through palpation are revealed in Japanese books. Palpation methods for diagnosing meridians using touching, pinching, rubbing, and pressing methods are expected to be standardized and systematically learned in Korea.