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적외선 영상 처리를 통한 Formalin Test 통증 모델에서의 염전 침자극 효과에 대한 연구
류재관,이순걸,임성수,이재동,민병일,류운영,Ryu, Jae-kwan,Lee, Soon-geul,Rhim, Sung-soo,Lee, Jae-dong,Min, Byung-il,Ryu, Un-young 대한침구의학회 2004 대한침구의학회지 Vol.21 No.2
Objective: As a manual accupucture method, the twirling-needle treatment has been known more effective in relieving pain than the conventional simple accupuncture treatment. Finding a proper treatment condition is difficult because of the lack of a quantative measurement of the alleviation of pain made by acupuncture. In this research, the authors propose the use of infrared thermal images in a formalin test to quantatively verify the effect of twirling. Methods: After injecting 10%~20% formalin into the tail of rats, the infrared thermal images(ITI) have been obtained to estimate the thermal distribution caused by inflammation. The authors propose a processing method to measure the thermal distribution from the thermal images obtained from the infrared camera as a pain model of the formalin test. Results: The pain model obtained from the infrared thermal image has two phases. The first phase, which is a transient period, is the initial 20 minutes when the pain is developed after the formalin injection. The second phase, which is a steady state, is where the development of pain lasts for 60 minutes or more after the first stage. This characteristic of the proposed model based on ITI is consistent with that of the pain model reported by other researchers whose works are based on the time-course of flinching and licking/biting, following a different concentration of formalin. It is noticed that the response of the thermal distribution obtained from ITI shows very high correlation to the behavioral response in the formalin test performed by Kazuhiro Okuda and four others5). In addition, the authors propose an ITI method to determine the pain-reducing effect of the acupuncture. The thermal distribution obtained from the experiment shows that there is significant pain reducing effect made by the twirling-needle method.
엘보 인식에 의한 배관로봇의 실시간 위치 추정 및 후처리 위치 측정 알고리즘
이채혁(Chae Hyeuk Lee),김광호(Gwang Ho Kim),김재준(Jae Jun Kim),김병수(Byung Soo Kim),이순걸(Soon Geul Lee) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.10
Robots used for pipe inspection have been studied for a long time and many mobile mechanisms have been proposed to achieve inspection tasks within pipelines. Localization is an important factor for an inpipe robot to perform successful autonomous operation. However, sensors such as GPS and beacons cannot be used because of the unique characteristics of inpipe conditions. In this paper, an inpipe localization algorithm based on elbow detection is presented. By processing the projected marker images of laser pointers and the attitude and heading data from an IMU, the odometer module of the robot determines whether the robot is within a straight pipe or an elbow and minimizes the integration error in the orientation. In addition, an off-line positioning algorithm has been performed with forward and backward estimation and Procrustes analysis. The experimental environment has consisted of several straight pipes and elbows, and a map of the pipeline has been constructed as the result.
Tail model의 기계적 이질통에 대한 전침 자극의 효과 및 교감신경계의 관여기전
이형석,민병일,황병길,박동석,이순걸,Lee, Hyung-suk,Min, Byung-il,Hwang, Byung-gil,Park, Dong-suk,Lee, Soon-geul 대한침구의학회 2003 대한침구의학회지 Vol.20 No.1
Objective : This study was intended to investigate the analgesic effects of electroacupuncture(EA) on mechanical allodynia according to the frequency and intensity of EA. Also to know if mechanical allodynia and the analgesic effects of EA is related to the sympathetci nervous system and/or the purinergic system. Methods : mechanical allodynia-induced rats were produced by resecting S1-S2 nerve. The zusanli(ST36) was used for acupoint and the rats were divided into 4 groups. Each group was given different stimuli[low frequency low intensity-EA(LFLI-EA), low frequency high intensity-EA(LFHI-EA), high frequency low intensity-EA(LFHI-EA), high frequency high intensity-EA(HFHI-EA)]. Futhermore, to make sympathectomy6-OHDA and phentolamine were administered intraperitonially and the concentration of norepinephrine(NE) were measured. As a ATP blocker, suramin was applied for this study. Results : Comparing to control group, each of the 4 groups(LFLI-EA, LFHI-EA, HFLI-EA, HFHI-EA) showed a significant reduction of response frequency of mechanical allodynia. LFHI-EA was more effective than that of LFLI-EA. The LFHI-EA group also had longer lasting effects from the stimulation than the other groups. Sympathectomy didn't show any reduction of response frequency of mechanical allodynia.(Each n=6, n=4). Nor did both sympathectomy and ATP block. The response frequency wasn't reduced by sympathectomy or by sympathectomy and ATP block, but was significantly reduced with LFHI-EA Conclusions : These results suggest that EA has a significant analgesic effect on mechanical allodynia which has no connection with NE and/or ATP.