• 대한두경부종양학회:학술대회논문집
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• 대한두경부종양학회 2007년도 추계학술대회 논문집
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• pp.231-232
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• 2007

• Journal of Gastric Cancer
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• 제13권4호
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• pp.255-262
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• 2013

Purpose: Robotic surgery for gastric cancer is a promising alternative to laparoscopic surgery, but the data are limited. We aimed to evaluate whether gaining experience in robotic gastrectomy could improve surgical outcomes in the treatment of gastric cancer. Materials and Methods: Two hundred and seven consecutive cases of patients with clinical stage I gastric cancer who underwent robotic surgery at the National Cancer Center of Korea between February 2009 and February 2012 were retrospectively reviewed. Surgical outcomes were analyzed and compared between the initial 100 and later 100 cases. Results: Seven patients required conversion to open surgery and were excluded from further analysis. The mean operating time for all patients was 248.8 minutes, and mean length of hospitalization was 8.0 days. Twenty patients developed postoperative complications. Thirteen were managed conservatively, while 6 had major complications requiring invasive procedures. One mortality occurred owing to myocardial infarction. Operating time was significantly shorter in the latter 100 cases than in the initial 100 cases (269.9 versus 233.5 minutes, P<0.001). The number of retrieved lymph nodes was significantly greater in the latter cases (35.9 versus 39.9, P=0.032). The hospital stay of patients with complications was significantly longer in the initial cases than in the latter cases (16 versus 7 days, P=0.005). Conclusions: Increased experience with the robotic procedure for gastric cancer was associated with improved outcomes, especially in operating time, lymph node retrieval, and shortened hospital stay of complicated patients. Further development of surgical techniques and technology might enhance the role of robotic surgery for gastric cancer.

• 대한의용생체공학회:의공학회지
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• 제44권3호
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• pp.190-203
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• 2023

The purpose of this study is to provide basic data to ensure the safety and essential performance of a Lower Extremity robotic assisted gait training system and to provide advanced technology and technical basis to the industry handling the system. Based on IEC 60601-1:2012/AMD2:2020 (Medical Electrical Equipment - General requirements for basic safety and essential performance of medical electrical equipment), IEC 62366-1:2015/AMD1:2020 (Medical devices - Part 1: Application of usability engineering to medical devices) and EN ISO 14971:2019 (Medical devices - Application of risk management to medical devices), the requirements for ensuring the safety and essential performance of the Lower Extremity robotic assisted gait training system were derived. Through the Delphi survey method and scenario analysis, which reflects the opinions and knowledge of experts in the fields of development, testing and review of technical documents, and quality assurance of medical devices, validity and reliability were conducted and obtained results with adequate content validity ratio (CVR; 0.7≤) and excellent reliability (Cronbach's α; 0.9≤). As a result, it was confirmed that the reliability and validity of the risk management process to ensure the safety and essential performance of the Lower Extremity robotic assisted gait training system are required a model can be established to provide measures to reduce risks according to the level of risk exposure caused by usage.

• Genomics & Informatics
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• 제17권4호
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• pp.44.1-44.3
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• 2019

Artificial intelligence (AI), big data, and ubiquitous robotic companions -the three most notable technologies of the 4th Industrial Revolution-are receiving renewed attention each day. Technologies that can be experienced in daily life, such as autonomous navigation, real-time translators, and voice recognition services, are already being commercialized in the field of information technology. In the biosciences field in Korea, such technologies have become known to the local public with the introduction of the AI doctor Watson in large number of hospitals. Additionally, AlphaFold, a technology resembling the AI AlphaGo for the game Go, has surpassed the limit on protein folding predictions-the most challenging problems in the field of protein biology. This report discusses the significance of AI technology and big data on the bioscience field. The introduction of automated robots in this field is not just only for the purpose of convenience but a prerequisite for the real sense of AI and the consequent accumulation of basic scientific knowledge.

• 대한기계학회논문집A
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• 제26권8호
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• pp.1638-1644
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• 2002

A novel locomotion using the pneumatic impulsive actuator was proposed for robotic colonoscope. This locomotion showed good moving performance in the environment of rigid pipe, however, the displacement per one impact(step displacement) is greatly reduced due to the low stiffness and high damping characteristics of the colon. Therefore, the modeling technique based on spring and damping system is studied to predict the step displacement and some parametric studies are carried out to investigate main parameters that influence the step displacement of locomotion. Based on simulation result, a new locomotion to control the resistance force is suggested and fabricated. Through the experiment on the colon, the usefulness of modeling technique is confirmed and successful improvement of moving characteristics is achieved.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1991년도 하계학술대회 논문집
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• pp.787-794
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• 1991

The objective of this paper is to survey the state of the art of multisensor data fusion in intelligent robot systems. The variety of approaches to the problem of multisensor fusion ranging from general frameworks to robotic applications is surveyed. We have classified them into three categories : sensor modeling, fusional methods, and robotic applications. Also we present research trend and future direction of multisensor fusion.

• 한국정보기술응용학회:학술대회논문집
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• 한국정보기술응용학회 2005년도 6th 2005 International Conference on Computers, Communications and System
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• pp.91-97
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• 2005

Bones are dynamic structures, being supported by muscles, tendons, and ligaments. When some or all the structures are disturbed i.e. in fractures, the alignment of the bone in respect to the rest of the body is deranged. This gives rise to axial as well as rotational deformity in three dimensional planes. The correct alignment and position of the long bones are to be maintained to heal the bone in the best possible anatomical and functional position. The objective of this research is to address the problems in the current practice involving surgeon, assistant, fluoroscopy and crude mechanical means and to see if a robotic solution exists to solve the problems of manipulating and reducing long bone fractures. This paper presents various design aspects of the proposed surgeon-instructed, image-guided and robotic system including the system design specification, robot design and analysis, motion control and implementation, and x-ray image processing and incorporation in CAD environment.

• International Journal of Internet, Broadcasting and Communication
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• 제15권4호
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• pp.134-141
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• 2023

As robotic technology expands into various fields, robots need to execute some complicated tasks in diverse environments. However, the previous robotic software solutions were limited to independent systems. We can not adapt to diverse functionalities and environments. This makes it hard to provide rapid and effective services and leads to costs and losses in the development process. To overcome these problems, we propose a robot software framework with behavior trees based on ROS2. This framework simplifies complex robot behaviors through behavior trees and makes it easy to modify, extend, and reuse robot behaviors. Furthermore, ROS2 standardizes connections between software modules, enhances the robot's flexibility, and enables independent development and testing of software. Our framework aims to provide a foundation for high-quality robot service provision by supporting the modularity, reusability, independent development, and testing required by intelligent robots that need to provide services in various environments.

• Journal of Microbiology and Biotechnology
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• 제17권11호
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• pp.1868-1874
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• 2007

We have developed a robotic system for an automated parallel cell cultivation process that enables screening of induction parameters for the soluble expression of recombinant protein. The system is designed for parallelized and simultaneous cultivation of up to 24 different types of cells or a single type of cell at 24 different conditions. Twenty-four culture vessels of about 200 ml are arranged in four columns${\times}$six rows. The system is equipped with four independent thermostated waterbaths, each of which accommodates six culture vessels. A two-channel liquid handler is attached in order to distribute medium from the reservoir to the culture vessels, to transfer seed or other reagents, and to take an aliquot from the growing cells. Cells in each vessel are agitated and aerated by sparging filtered air. We tested the system by growing Escherichia coli BL21(DE3) cells harboring a plasmid for a model protein, and used it in optimizing protein expression conditions by varying the induction temperature and the inducer concentration. The results revealed the usefulness of our custom-made cell cultivation robot in screening optimal conditions for the expression of soluble proteins.

• 융합정보논문지
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• 제12권1호
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• pp.163-170
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• 2022

4차산업 혁명이 도래함에 따라 AI 기술을 적용하는 솔루션 개발이 활발하게 이루어지고 있다. 2017년도부터 금융권, 보험사를 중심으로 AI 기반 RPA(Robotic Process Automation)을 이용한 업무 자동화 솔루션 도입이 이루어지기 시작했으며, 최근에는 RPA 솔루션 도입 단계를 지나 확산하는 시기로 진입하고 있다. 이러한 RPA 솔루션을 이용한 업무 자동화 중에서 각 종 문서들을 이용한 업무 자동화에는 문서내의 문자 정보를 얼마나 정확하게 인식하는지가 매우 중요하다. 이러한 문자 인식은 최근 딥러닝 기술을 도입함으로써 그 정확도가 많이 높아졌지만, 여전히 완벽한 인식 정확도 갖는 인식 모델은 존재하지 않는다. 따라서, 본 논문에서는 딥러닝 기반 문자 인식 엔진에 전/후 처리기 기술을 적용할 경우 얼마나 정확도가 향상되는지를 확인하고 RPA 인식 엔진과 연계 기술을 구현하였다.