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뇌혈종 제거 수술을 위한 무마커 수술 유도 로봇 시스템의 정확도 향상을 위한 캘리브레이션 기법
박규식(Kyusic Park),윤현민(Hyon Min Yoon),신상균(Sangkyun Shin),조현철(Hyunchul Cho),김영준(Youngjun Kim),김래현(Laehyun Kim),이득희(Deukhee Lee) (사)한국CDE학회 2015 한국 CAD/CAM 학회 학술발표회 논문집 Vol.2015 No.동계
In this paper, we propose calibration methods that can be applied to the markerless surgical robotic system for Intracerebral Hematoma (ICH) Surgery. This surgical robotic system does not require additional process of patient imaging but only uses CT images that are initially taken for a diagnosis purpose. Furthermore, the system applies markerless registration method other than using stereotactic frames. Thus, in overall, our system has many advantages when compared to other conventional ICH surgeries in that they are noninvasive, much less exposed to radiation exposure, and most importantly reduces a total operation time. In the paper, we specifically focus on the application of calibration methods and their verification which is one of the most critical factors that determine the accuracy of the system. We implemented three applications of calibration methods between the coordinates of robot’s end-effector and the coordinates of 3D facial surface scanner, based on the hand-eye calibration method. Phantom tests were conducted to validate the feasibility and accuracy of our proposed calibration methods and the surgical robotic system.
뇌혈종 제거 수술을 위한 무마커 수술 유도 로봇 시스템의 정확도 향상을 위한 캘리브레이션 기법
박규식(Kyusic Park),윤현민(Hyon Min Yoon),신상균(Sangkyun Shin),조현철(Hyunchul Cho),김영준(Youngjun Kim),김래현(Laehyun Kim),이득희(Deukhee Lee) (사)한국CDE학회 2015 한국CDE학회 논문집 Vol.20 No.3
In this paper, we propose calibration methods that can be applied to the markerless surgical robotic system for Intracerebral Hematoma (ICH) Surgery. This surgical robotic system does not require additional process of patient imaging but only uses CT images that are initially taken for a diagnosis purpose. Furthermore, the system applies markerless registration method other than using stereotactic frames. Thus, in overall, our system has many advantages when compared to other conventional ICH surgeries in that they are non-invasive, much less exposed to radiation exposure, and most importantly reduces a total operation time. In the paper, we specifically focus on the application of calibration methods and their verification which is one of the most critical factors that determine the accuracy of the system. We implemented three applications of calibration methods between the coordinates of robot’s end-effector and the coordinates of 3D facial surface scanner, based on the hand-eye calibration method. Phantom tests were conducted to validate the feasibility and accuracy of our proposed calibration methods and the surgical robotic system.
Naik, Ravi,Ban, Hyun Seung,Jang, Kyusic,Kim, Inhyub,Xu, Xuezhen,Harmalkar, Dipesh,Shin, Seong-Ah,Kim, Minkyoung,Kim, Bo-Kyung,Park, Jaehyung,Ku, Bonsu,Oh, Sujin,Won, Misun,Lee, Kyeong American Chemical Society 2017 Journal of medicinal chemistry Vol.60 No.20
<P>Previously, we reported a hypoxia-inducible factor (HIF)-1 inhibitor LW6 containing an (aryloxyacetylamino)benzoic acid moiety inhibits malate dehydrogenase 2 (MDH2) using a chemical biology approach. Structure–activity relationship studies on a series of (aryloxyacetylamino)benzoic acids identified selective MDH1, MDH2, and dual inhibitors, which were used to study the relationship between MDH enzyme activity and HIF-1 inhibition. We hypothesized that dual inhibition of MDH1 and MDH2 might be a powerful approach to target cancer metabolism and selected methyl-3-(3-(4-(2,4,4-trimethylpentan-2-yl)phenoxy)propanamido)-benzoate (<B>16c</B>) as the most potent dual inhibitor. Kinetic studies revealed that compound <B>16c</B> competitively inhibited MDH1 and MDH2. Compound <B>16c</B> inhibited mitochondrial respiration and hypoxia-induced HIF-1α accumulation. In xenograft assays using HCT116 cells, compound <B>16c</B> demonstrated significant in vivo antitumor efficacy. This finding provides concrete evidence that inhibition of both MDH1 and MDH2 may provide a valuable platform for developing novel therapeutics that target cancer metabolism and tumor growth.</P><P><B>Graphic Abstract</B> <IMG SRC='http://pubs.acs.org/appl/literatum/publisher/achs/journals/content/jmcmar/2017/jmcmar.2017.60.issue-20/acs.jmedchem.7b01231/production/images/medium/jm-2017-01231h_0018.gif'></P><P><A href='http://pubs.acs.org/doi/suppl/10.1021/jm7b01231'>ACS Electronic Supporting Info</A></P>
C-arm 영상 기반 척추 디스크 내시경 수술을 위한 가이드 바늘 삽입 보조 시스템
윤현민(Hyon Min Yoon),조현철(Hyunchul Cho),박규식(Kyusic Park),신상균(Sangkyun Shin),이득희(Deukhee Lee) (사)한국CDE학회 2015 한국 CAD/CAM 학회 학술발표회 논문집 Vol.2015 No.동계
Due to an increased sitting time in work, lumbar disc disease is one of the most frequent diseases in modern days, and this occasionally requires surgery for treatment. Endoscopic disc surgery, one of the common disc surgeries, requires a process of inserting a guide needle to the target disc for which the insertion path is manually planned by drawing lines on the patient’s skin while monitoring the fluoroscopic view of the lumbar. Such procedure inevitably exposes both surgeon and patient to the fluoroscopy radiation emitted from the c-arm for a long time. To reduce the radiation exposure time, this study proposes a computer assisted method of calculating the 3D guide needle path by using 2D c-arm images of the disc in 3 different angles. Additionally, a method of the guide robot control based on the 3D needle path was developed by implementing the Hand-eye Calibration method to calculate the transformation matrix between the c-arm and robot base coordinate systems. The proposed system was then tested for its accuracy.
C-arm 영상 기반 척추 디스크 내시경 수술을 위한 가이드 바늘 삽입 보조 시스템
윤현민(Hyon Min Yoon),조현철(Hyunchul Cho),박규식(Kyusic Park),신상균(Sangkyun Shin),이득희(Deukhee Lee) (사)한국CDE학회 2015 한국CDE학회 논문집 Vol.20 No.3
Due to an increased sitting time in work, lumbar disc disease is one of the most frequent diseases in modern days, and this occasionally requires surgery for treatment. Endoscopic disc surgery, one of the common disc surgeries, requires a process of inserting a guide needle to the target disc for which the insertion path is manually planned by drawing lines on the patient’s skin while monitoring the fluoroscopic view of the lumbar. Such procedure inevitably exposes both surgeon and patient to the fluoroscopy radiation emitted from the c-arm for a long time. To reduce the radiation exposure time, this study proposes a computer assisted method of calculating the 3D guide needle path by using 2D c-arm images of the disc in 3 different angles. Additionally, a method of the guide robot control based on the 3D needle path was developed by implementing the Hand-eye Calibration method to calculate the transformation matrix between the c-arm and robot base coordinate systems. The proposed system was then tested for its accuracy.