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말기 암 환자 통증 조절을 위한 이식형 약물 주입기용 마이크로 튜브 펌프 설계
백두진(Du-Jin Bach),조영호(Yung Ho Jo) 한국유체기계학회 2007 유체기계 연구개발 발표회 논문집 Vol.- No.-
This paper proposes a tube pump which have small-sized cams and followers for an implantable intrathecal drug infusion device. The operation principle of the pwnp is that each of the followers is driven by four cams. Due to its sequence reciprocating motion, liquid is discharged. This structure has the advantage of clean and valveless pump. To design a suitable, low power and a small-sized pump, some analysis are performed to determine the design parameters of the cam, follower and the tube. To verify the feasibility of the experiment, a prototype is manufactured and its operating characteristics are investigated. In addition experimental results show the performance of the proposed pump,
췌장암 조기진단을 위한 조건부 확률 기반 지능형 진단 방식
장익규,정준호,고재호,문현석,조영호,JANG, IK GYU,JUNG, JOONHO,KO, JAE HO,MOON, HYUN SEOK,JO, YUNG HO 대한의용생체공학회 2017 의공학회지 Vol.38 No.5
Early diagnosis of pancreatic cancer had been considered one of the important barrier for successful therapy since the five year survival rate after treatment of pancreatic cancer was critically low. Nonetheless, patients often miss the golden time of treatment because they rarely visit the hospital until their symptoms are severe. To overcome these problems, a lot of information about the patient's symptoms should be applied as biomarkers for early diagnosis. For this reason, a biomarker for early detection of pancreatic cancer (CA19-9) has been developed as a diagnostic kit. However, since the diagnosis is not accurate enough, pancreatic symptoms (abdominal pain, jaundice, anorexia, diabetes, etc.) and biomarkers (CA19-9) should be considered together. We develop an intelligent diagnostic system that considers CA19-9 and the incidence of pancreatic cancer for pancreatic symptoms that was determined by studying a large number of patient information. It shows a higher accuracy than one using CA19-9 alone. It may increase the survival rate of pancreatic cancer because it can diagnose pancreatic cancer early.
복강경 수술로봇을 위한 실시간 운영체제 기반 제어 시스템의 개발
송승준,박준우,신정욱,김윤호,이덕희,조영호,최재순,선경,Song, Seung-Joon,Park, Jun-Woo,Shin, Jung-Wook,Kim, Yun-Ho,Lee, Duk-Hee,Jo, Yung-Ho,Choi, Jae-Seoon,Sun, Kyung 대한의용생체공학회 2008 의공학회지 Vol.29 No.1
This paper reports on a realtime OS based master-slave configuration robot control system for laparoscopic surgery robot which enables telesurgery and overcomes shortcomings with conventional laparoscopic surgery. Surgery robot system requires control system that can process large volume information such as medical image data and video signal from endoscope in real-time manner, as well as precisely control the robot with high reliability. To meet the complex requirements, the use of high-level real-time OS (Operating System) in surgery robot controller is a must, which is as common as in many of modem robot controllers that adopt real-time OS as a base system software on which specific functional modules are implemened for more reliable and stable system. The control system consists of joint controllers, host controllers, and user interface units. The robot features a compact slave robot with 5 DOF (Degree-Of-Freedom) expanding the workspace of each tool and increasing the number of tools operating simultaneously. Each master, slave and Gill (Graphical User Interface) host runs a dedicated RTOS (Real-time OS), RTLinux-Pro (FSMLabs Inc., U.S.A.) on which functional modules such as motion control, communication, video signal integration and etc, are implemented, and all the hosts are in a gigabit Ethernet network for inter-host communication. Each master and slave controller set has a dedicated CAN (Controller Area Network) channel for control and monitoring signal communication with the joint controllers. Total 4 pairs of the master/slave manipulators as current are controlled by one host controller. The system showed satisfactory performance in both position control precision and master-slave motion synchronization in both bench test and animal experiment, and is now under further development for better safety and control fidelity for clinically applicable prototype.
김수현(Soo-Hyun Kim),김광기(Kwang-Gi Kim),조영호(Yung Ho Jo) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.7
An efficient laparoscope manipulator robot was designed to automatically control the position of laparoscope via a passive joint on end-effector position. The end position of the manipulator is controlled to have corresponding velocity defined in the global coordinate space using laparoscopic visual information. Desired spatial position of laparoscope was derived from detected positions of surgical instrument tips, then the clinical viewing plane was moved by visual servoing task. The laparoscope manipulator is advantageous for automatically maintaining clinically important views in the laparoscopic image without any additional operator. A laparoscope is mounted to a holder which is linked to four degree of freedom manipulator via universal joint-type passive rings connection. No change in the design of laparoscope or manipulator is necessary for its application to surgery assistant robot system. Expanded working space and surgical efficiency were accomplished by implementing slant linking structure between laparoscope and manipulator. To ensure reliable positioning accuracy and controllability, the motion of laparoscope in an abdominal space through trocar was inspected using geometrical analysis. A designed laparoscope manipulating robot system can be easily set up and controlled in an operation room since it has a few subsidiary devices such as a laparoscope light source regulator, a control PC, and a power supply.
캠-팔로워 구동 이식형 경막내 약물 주입 펌프 시스템 개발
백두진(Du-Jin Bach),박준우(Jun Woo Park),이철한(Chulhan Lee),홍소영(Soyoung Hong),이덕희(Duck Hee Lee),김대현(Daehyun Kim),조영호(Yung Ho Jo) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5
This paper proposes a implantable intrathecal drug infusion pump for pain control in terminal cancer patients. This pump consists of micropump module, drug reservoir module and control module. The micropump module using cam-follower mechanism composed of small-sized four cams and four followers. Each followers is driven by a cam and liquid is discharged by a sequential reciprocal motion of the followers. The advantage of this structure is that it allows the pump to be clean and valveless. The drug reservoir module composed of drug chamber, gas chamber and diaphragm. The control module composed of battery, wireless communication unit and controller. To design a small-sized, low power pump some analysis were performed to determine the design parameters. To verify the feasibility of the experiment, a prototype was manufactured and its operating characteristics were investigated. Experimental results were in accordance with the expected results obtained from analysis.
양심실 보조 장치 이식 환자의 beta-blocker 병용 요법에 대한 순환 생리계 컴퓨터 시뮬레이션
민병구,조영호 제주대학교 인공심장이식연구소 2000 인공심장 연구 Vol.1 No.1
본 연구는 양심실 보조장치(BVAD) 및 βblocker가 말기 심질환 환자의 심혈관계에 미치는 영향을 혈류 역학적 관점에서 예측하고자 컴퓨터 시뮬레이션을 수행하였다. 이를 위하여 인공심장과 제어기를 기술하는 전기 역학적 미분 방정식을 구성하여 인공 심장의 수축기와 확장기를 수치 해석적 방법으로 모델링하였으며, 인체 순환 생리계의 혈류 역학 지수, 생화학적 변수 (예, 정맥혈 산소 포화도SvO₂)를 예측하는 검증된 기존의 인체 생리계 모델(QCP2)을 선정하여 인공 심장-인체 생리계의 통합 모델을 구성하였다. 시뮬레이션은 말기 심부전 환자에 대한 치료법으로서 BVAD 이식, βblocker 복용, BVAD 와 βblocker 병용요법 등으로 나누어 이들을 치료하지 않은 control과 비교하였다. βblocker 치료법은 심박수, 심박출량, 동맥압 등이 감소하여 환자의 심장의 일의 부답을 감소시키는 것으로 나타났으며, BVAD를 이식한 경우 심장의 일 부담 감소와 더불어 역학 지수가 호전된을 보였다. BVAD와 βblocker 병용 요법의 경우 BVAD만 적용한 경우에 비하여 평균 동맥압은 감소되고 심장지수 및 심박출량은 상대적으로 증가함을 나타내었다. 결론적으로, 말기 심부전 한자에 대한 치료법으로서, BVAD의 적용을 통한 환자의 혈류 역학 지수 호전을 기대할 수 있고, 여기에 일의 부담을 던 환자의 심장 기능을 호전시키는 βblocker를 포함하는 약물 요법을 자유로이 투여할 수 있으므로 BVAD와 βblocker 병용 요법이 많은 장점을 가질 것으로 예상된다. The purpose of this study is to predict the cardiovascular hemodynamic effect of the moving actuator pump Bi-ventricular Assist Device(BVAD) and the βblocker therapy in a heart failure patient. We developed the numerical model of the BUAD using several coupled nonlinear differential equations and integrated the circulatory physiology model called QCP2 that was developed by Tom Coleman after modification of QCP2 source files to interact the BVAD model. The BVAD model include two blood sacs and variable volume, energy transmission part with gear and motor, which are enclosed by the chamber housing. The therapy for the simulation of a heart failure patient are classified by followings; BVAD implantation, βblocker administration, combined therapy with βblocker and BVAD, and they are compared with control which has no treatment. βblocker therapy showed the decrease in the work load of the patient's heart with the decrease in heart rate, cardiac output, arterial blood pressure. In BVAD implantation, it showed improvement of the hemodynamic values as well as the decrease in the work load of the patient's heart. Combined therapy with βblocker and BVAD showed that mean arterial pressure is decreased and cardiac index is improved, as compared with the BVAD implantation therapy. In conclusion, Combined therapy with βblocker and BVAD is preferred as a therapy for a heart failure patient because the BVAD could improve patient hemodynamic condition and this could help to use drug therapy like a βblocker with safety margin.