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        • SCISCIESCOPUS

          Development of New End-Effector for Proof-of-Concept of Fully Robotic Multichannel Biopsy

          Moon, Youngjin,Seo, Joon Beom,Choi, Jaesoon IEEE 2015 IEEE/ASME transactions on mechatronics Vol.20 No.6

          <P>This paper presents a novel end-effector designed for a teleoperation type robotic system to perform automated sampling for needle biopsies. The objectives of the robotic system are to realize teleoperation control of the pose and position of the biopsy instrument to reduce X-ray exposure and enhance the precision and accuracy of the procedure as well as to automate the sequence of multiple samplings during the biopsy. In order to realize the desired functions, the end-effector comprises three modules: the needle cartridge, needle positioning mechanism, and needle driving unit. The detachable needle cartridge contains six needle sets: one guide needle and five sampling needles. It rotates itself to change needles and rotates the needle body to adjust the facing angle of the needle tip. The needle positioning mechanism is spherical with two degrees of freedom and is a modification of the typical hemisphere type. The needle driving unit controls the needle grab/release and insertion/retreat motions. A concept design and prototype were developed with an experimental master-salve system for the teleoperation. The experimental results successfully demonstrated the feasibility of the robotic biopsy procedure.</P>

        • KCI등재

          Evaluation of Biomechanical Movements and Injury Risk Factors in Weight Lifting (Snatch)

          Moon, YoungJin Korean Society of Sport Biomechanics 2016 한국운동역학회지 Vol.26 No.4

          Objective: The purpose of this study was to investigate the possibility of injuries and the types of movement related to damage by body parts, and to prepare for prevention of injuries and development of a training program. Method: For this study, the experiment was conducted according to levels of 60 percentages (ST) and 85 percentages (MA) and 10 subjects from the Korean elite national weightlifting team were included. Furthermore, we analyzed joint moment and muscle activation pattern with three-dimensional video analysis. Ground reaction force and EMG analyses were performed to measure the factors related to injuries and motion. Results: Knee reinjuries such as anterior cruciate ligament damage caused by deterioration of the control ability for the forward movement function of the tibia based on the movement of the biceps femoris when the rectus femoris is activated with the powerful last-pull movement. In particular, athletes with previous or current injuries should perceive a careful contiguity of the ratio of the biceps femoris to the rectus femoris. This shows that athletes can exert five times greater force than the injury threshold in contrast to the inversion moment of the ankle, which is actively performed for a powerful last pull motion and is positively considered in terms of intentional motion. It is activated by excessive adduction and internal rotation moment to avoid excessive abduction and external rotation of the knee at lockout motion. It is an injury risk to muscles and ligaments, causing large adduction moment and internal rotation moment at the knee. Adduction moment in the elbow joint increased to higher than the injury threshold at ST (60% level) in the lockout phase. Hence, all athletes are indicated to be at a high risk of injury of the elbow adductor muscle. Lockout motion is similar to the "high five" posture, and repetitive training in this motion increases the likelihood of injuries because of occurrence of strong internal rotation and adduction of the shoulder. Training volume of lockout motion has to be considered when developing a training program. Conclusion: The important factors related to injury at snatch include B/R rate, muscles to activate the adduction moment and internal rotation moment at the elbow joint in the lockout phase, and muscles to activate the internal rotation moment at the shoulder joint in the lockout phase.

        • KCI등재

          Anterior Cruciate Ligament Injury is Unlikely to Occur when Performing a Stable Weight Lifting Operation

          Moon, Youngjin,Moon, Jeheon Korean Society of Sport Biomechanics 2018 한국운동역학회지 Vol.28 No.4

          Objective: The purpose of this study was to examine the effect of increase in barbell weight on closely related variable to the anterior cruciate ligament (ACL) injury which are knee joint kinematics, joint load, joint moment, and maximum load attainment point during snatch of the weight lifting. Method: The subjects of the study were 10 male Korean national weight lifting athletes (69 kg 5, 77 kg 5; age: $21.80{\pm}3.91yrs.$, height: $168.00{\pm}4.06cm$, weight: $75.00{\pm}4.02kg$, career: $7.8{\pm}3.99yrs.$, snatch records: $168{\pm}4.06kg$). The weight of the barbell during the snatch operation was set at 70%, 75% and 80% of the highest records for each subject studied. Results: The result obtained from the one-way repeated measure ANOVA are as follows: With increased barbell weight, the extension moment of the left knee joint was higher in the 80% condition than the 70% (p<.001). However, other variables were not statistically significant difference. According to the factor analysis of the variables related to maximum load attainment point of the ACL major injury variables, the first sub-factor was the internal shear force, the posterior shear force, the abduction moment, and the muscle activity of the VL. The second sub-factor was the extension moment of the knee joint, compressive force, adduction moment, and the third sub-factor was the muscle activity of BF. Conclusion: These results indicate that the possibility of ACL injury can be lowered when performing a stable snatch movement.

        • SCIESCOPUSKCI등재
        • A Planar Compliant Parallel Robotic Mechanism for Robotic Needle Intervention

          Youngjin Moon,Jaesoon Choi 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10

          This paper presents a basic concept of a robot mechanism for a robot used in needle intervention procedure. The robot mechanism is devised to give variable remote center of motion to the intervention robot. This function is expected to be a good solution for two cases: correction of the needle axis and compensation of needle position due to patients’ motion. The mechanism is designed with some requirements such as mobility and workspace. A kinematic analysis determines parameters of the mechanism so that the mechanism’s workspace includes at least a required working area. A three dimensional model is created from the resultant design.

        • Improvement of Robotic Mechanism for Automated Biopsy

          Youngjin Moon,Jongseok Won,Sanghoon Park,Jaesoon Choi 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10

          This paper presents improved robotic mechanism for automated biopsy procedure. Needle insertion type intervention has the advantages of minimal invasiveness and fast recovery of the patient, but radiation exposure of the clinician and patient and dependency of insertion accuracy on the clinician’s skill are drawbacks. The robotic intervention system is a solution of the problems. As one component of the system, the robotic mechanism for biopsy has been developed. The previous robot mechanism sequentially performs all the processes of the biopsy except the anesthesia, but more practical problems such as robust operation, necessity of down-scaling, and safety issue should be considered. The biopsy robot model II-B is the revised version of the previous models. The modifications include adding a cartridge rotation checker and needle stoppers, renovating cartridge connection method, the spring loader, and spring block mover, and etc. Effectiveness of the improved functions is verified by experiment.

        • KCI등재

          Anterior Cruciate Ligament Injury is Unlikely to Occur when Performing a Stable Weight Lifting Operation

          ( Youngjin Moon ),( Jeheon Moon ) 한국운동역학회 2018 한국운동역학회지 Vol.28 No.4

          Objective: The purpose of this study was to examine the effect of increase in barbell weight on closely related variable to the anterior cruciate ligament (ACL) injury which are knee joint kinematics, joint load, joint moment, and maximum load attainment point during snatch of the weight lifting. Method: The subjects of the study were 10 male Korean national weight lifting athletes (69 kg 5, 77 kg 5; age: 21.80±3.91 yrs., height: 168.00±4.06 cm, weight: 75.00±4.02 kg, career: 7.8±3.99 yrs., snatch records: 168± 4.06 kg). The weight of the barbell during the snatch operation was set at 70%, 75% and 80% of the highest records for each subject studied. Results: The result obtained from the one-way repeated measure ANOVA are as follows: With increased barbell weight, the extension moment of the left knee joint was higher in the 80% condition than the 70% (p<.001). However, other variables were not statistically significant difference. According to the factor analysis of the variables related to maximum load attainment point of the ACL major injury variables, the first sub-factor was the internal shear force, the posterior shear force, the abduction moment, and the muscle activity of the VL. The second sub-factor was the extension moment of the knee joint, compressive force, adduction moment, and the third sub-factor was the muscle activity of BF. Conclusion: These results indicate that the possibility of ACL injury can be lowered when performing a stable snatch movement.

        • KCI등재

          Evaluation of Biomechanical Movements and Injury Risk Factors in Weight Lifting (Snatch)

          ( Youngjin Moon ) 한국운동역학회 2016 한국운동역학회지 Vol.26 No.4

          Objective: The purpose of this study was to investigate the possibility of injuries and the types of movement related to damage by body parts, and to prepare for prevention of injuries and development of a training program. Method: For this study, the experiment was conducted according to levels of 60 percentages (ST) and 85 percentages (MA) and 10 subjects from the Korean elite national weightlifting team were included. Furthermore, we analyzed joint moment and muscle activation pattern with three-dimensional video analysis. Ground reaction force and EMG analyses were performed to measure the factors related to injuries and motion. Results: Knee reinjuries such as anterior cruciate ligament damage caused by deterioration of the control ability for the forward movement function of the tibia based on the movement of the biceps femoris when the rectus femoris is activated with the powerful last-pull movement. In particular, athletes with previous or current injuries should perceive a careful contiguity of the ratio of the biceps femoris to the rectus femoris. This shows that athletes can exert five times greater force than the injury threshold in contrast to the inversion moment of the ankle, which is actively performed for a powerful last pull motion and is positively considered in terms of intentional motion. It is activated by excessive adduction and internal rotation moment to avoid excessive abduction and external rotation of the knee at lockout motion. It is an injury risk to muscles and ligaments, causing large adduction moment and internal rotation moment at the knee. Adduction moment in the elbow joint increased to higher than the injury threshold at ST (60% level) in the lockout phase. Hence, all athletes are indicated to be at a high risk of injury of the elbow adductor muscle. Lockout motion is similar to the "high five" posture, and repetitive training in this motion increases the likelihood of injuries because of occurrence of strong internal rotation and adduction of the shoulder. Training volume of lockout motion has to be considered when developing a training program. Conclusion: The important factors related to injury at snatch include B/R rate, muscles to activate the adduction moment and internal rotation moment at the elbow joint in the lockout phase, and muscles to activate the internal rotation moment at the shoulder joint in the lockout phase.

        • KCI등재

          Time-Varying Hemodynamic Characteristics Simulation using Computerized Mock Circulatory Loop System with Servo Flow Regulator

          Moon, Youngjin,Son, Kuk Hui,Choi, Jaesoon The Korea Society of Medical and Biological Engine 2015 의공학회지 Vol.36 No.6

          A mock circulatory loop system has been developed to construct a simulator for trainees in cardiopulmonary bypass systems or to simulate a test environment for cardiac-assist devices. This paper proposes a computerized mock circulatory loop system whose node is modularized by using a servo control flow regulator to simulate dynamic change of the hemodynamic status. To observe the effect of time-varying resistance, one with hemodynamic properties, the proposed system replicates the planned cross-sectional areas of the outlet of a ventricular assist device in terms of voltage input of a servo valve. The experiment is performed (1) for steady-input commands of selected area sizes and (2) for dynamic commands such as monotonous increase and decrease, and oscillatory functions of the voltage input, and a computer program based on LabVIEW (National Instruments, Austin, USA) processes every measured data and control command to the servo valve. The results show that the pressure and flow at the target points with respect to time-varying resistance match intuitive estimation: the pressure at the outlet and the pressure drop between both sides of the valve increased and the flow at the outlet decreased for increased resistance.

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