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Fara Robot에서의 RCCL(Robot Control C Library) 구현
선경일(K.I. Sun),김병국(B.K. Kim) 대한전자공학회 1992 대한전자공학회 학술대회 Vol.1992 No.10
An intelligent robot control system is developed, which is based on extensible hardwares and softwares. The system could be used to test advanced and complex real time application programs to avoid constraints on present robot control system in executing a complex or precise algorithms, due to the limitation of hardware and software. In this paper we used the RCCL(Robot Control C Library) on SUN4 as a supervisory system that plays the path planning and man-machine interface. And we used VxWORKS as a real time OS on a VME bus CPU equiped with some interface boards. Two systems were connected through the Ethernet network. We used the 4 axis manipulator, FARA, developed by Samsung Electronics Co.
국군 수도병원의 심혈관계 수술 304예에 대한 임상적 고찰
선경,박영환,김범식,이건우,이영욱,백광제,정원상,곽영태,김형묵,Sun, K.,Park, Y.H.,Kim, B.S.,Lee, K.W.,Lee, Y.W.,Baek, K.J.,Jung, W.S.,Kwak, Y.T.,Kim, H.M. 대한흉부심장혈관외과학회 1988 Journal of Chest Surgery (J Chest Surg) Vol.21 No.6
From 1959 through Jun. 1988, 2094 cases of various Cardiovascular diseases were operated, which were consisted of 1215 open heart surgery under extra-corporeal circulation or hypothermia and 879 conventional Cardiovascular Surgery at Department of Thoracic & Cardiovascular Surgery in National Medical Center. There were 1111 congenital heart anomalies and 983 acquired cardiovascular diseases. Among 1111 congenital cases, acyanotic cases were 748 and cyanotic cases were 363. In acquired heart cases, valvular heart diseases [702 cases] were the most frequent and a small No. of cardiac tumor and coronary artery diseases were included. Overall operative mortality was 9.3%, consisting of 4.6% for acyanotic anomaly, 20.6% for cyanotic anomaly and 8.7% for acquired heart diseases. In open heart surgery, overall mortality was 11.6% and 6% in conventional cardiovascular surgery.
선경,곽영태,김형묵,Sun, K.,Kwak, Y.T.,Kim, H.M. 대한흉부심장혈관외과학회 1992 Journal of Chest Surgery (J Chest Surg) Vol.25 No.12
This is the result of the annual statistic analysis of thoracic and cardiovascular surgical cases in 1991, Korea. 14,715 cases of surgery[thoracic 8,995/cardiovascular 5,720] were done by 53 institutes replied. The order of frequency of cell type in primary lung cancer was squamous [62.3%] / adeno [23.9%] / small [6.4%] / adenosquamous [3.0%], and in mediastinal tumor, neurogenic[27.l%] / thymoma [27.1%] / teratoma[26.4%] / congenital cystic[12.0%]. Surgery for tuberculosis was decreased to 15.8% of overall infectious disease from the recent 6 year`s average 35.7%. In general thoracic surgery, the single most frequent operation was closed thoracostomy[4,047 cases] for pleural pathology. The ratio of congenital to acquired heart disease was 2:1, and acyanotic to cyanotic was 3:1. The order of frequency of congenital acyanotic heart disease was VSD [45.6%] / ASD [25.6%] / PDA [20.4%] / PS [2.9%], and that of cyanotic heart disease was TOF [42.6%] / PA [12.9%] / TGA [9.9%] / DORV [8.8%]. In 1,364 cases of valvular surgery, single mitral pathology was the most frequent candidate[729 cases, 53.4%]. In 243 cases of coronary surgery, bypassing graft materials were great saphenous vein[41.6%], internal mammary [39.5%], and artificial vessel[18.9%]. There were no specific differences in aortic surgery, assisted device implantation, and antiarrhythmic surgery as compared to previous study. This nation-wide inquiry will be continued and reported annually by KTCS Society.
진공성형을 이용한 삼엽식 고분자 심장판막의 제작과 혈류역학적 성능평가
김경현,황창모,정기석,안치범,김범수,이정주,남경원,선경,Kim, K.H.,Hwang, C.M.,Jeong, G.S.,Ahn, C.B.,Kim, B.S.,Lee, J.J.,Nam, K.W.,Sun, K. 대한의용생체공학회 2006 의공학회지 Vol.27 No.6
In the artificial heart application, productivity and hemodynamic properties of artificial heart valves are crucial in successiful application to long term in vivo trials. This paper is about manufacture and assessment of trileaflet polymer heart valves using vacuum forming process(VFP). The VFP has many advantages such as reduced fabrication time, reproducibility due to relatively easy and simple process for manufacturing. Prior to VFP of trileaflet polymer heart valves, polyurethane(Pellethane 2363 80AE, Dow Chemical) sheet was prepared by extrusion. The sheets were heated and formed to mold shape by vacuum pressure. The vacuum formed trileaflet polymer heart valves fabrication is composed of two step method, first, leaflet forming and second, conduit forming. This two-step forming process made the leaflet-conduit bonding stable with any organic solvents. Hydrodynamic properties and hemocompatibility of the vacuum formed trileaflet polymer heart valves was compared with sorin bicarbon bileaflet heart valve. The percent effective orifice area of vacuum formed trileaflet polymer heart valves was inferior to bileaflet heart valve, but the increase of plasma free hemoglobin level which reflect blood damage was superior in vacuum formed trileaflet polymer heart valves Vacuum formed trileaflet polymer heart valves has high productivity, and superior hemodynamic property than bileaflet heart valves. Low manufacturing cost and blood compatible trileaflet polymer heart valves shows the advantages of vacuum forming process, and these results give feasibility in in vivo animal trials in near future, and the clinical artificial heart development program.
축류형 인공심장의 자기베어링 제어를 위한 와전류 센서 시스템 개발
안치범,문기철,정기석,남경원,이정주,선경,Ahn, C.B.,Moon, K.C.,Jeong, G.S.,Nam, K.W.,Lee, J.J.,Sun, K. 대한의용생체공학회 2007 의공학회지 Vol.28 No.2
The axial-flow type blood pump(XVAD) which has been developed in our group consists of mechanical parts (an impeller, a diffuser and a flow straightener) and electrical parts (a motor and a magnetic bearing). The magnetic bearing system fully levitates the impeller to remove mechanical coupling with other parts of the pump with constant gap, which needs non-contact type gap sensing. Conventional gap sensors are too large to be adopted to the implantable axial -flow type blood pump. Thus, in this paper, the compact eddy current type gap sensor system proper for the implantable axial-flow type blood pump was developed and its performance was evaluated in vitro. The developed eddy current type gap sensor system is a transformer type and has a differential probe. Sensor coil(probe) has small dimensions(6 mm diameter, 2 mm thickness) and its optimal inductance was determined as 0.068 mH for the measurement range of $0\sim3mm$. It could be manufactured with 130 turns of the 0.04 mm diameter copper coil. The characteristics of the developed eddy current type gap sensor system was evaluated by in vitro experiment. At experiment, it showed satis(actory performance to apply to the magnetic bearing system of the XVAD. It could measure the gap up to 3mm, but the linearity was decreased at the range of $1.8\sim3.0mm$. Moreover, it showed no difference in different media such as the water and the blood at the temperature range of $35\sim40^{\circ}C$.
송승준(S. J. Song),최재순(J. Choi),박용두(Y. D. Park),선경(K. Sun) 대한전기학회 2009 정보 및 제어 심포지엄 논문집 Vol.2009 No.10
Bioprinting is a new area of research and engineering that involves printing devices that deposit biological material The long-term goal is that the technology could be used to create replacement organs or even entire organisms from raw biological materials. This paper attempts to develop to bioprinting as a CAD based 3D printing technology. This technology is based on using layer by layer deposition of cell and/or cell aggregates into a 3D gel with sequential maturation of the printed construct into perfused and vascularized living tissue or organ. A custom designed and fabricated bioprinting system targeted for use with hydrogel based 'bio ink' was developed and preliminary printing test has been done. Through experiments, we confirmed the feasibility of the developed system as an applicable system for the 2D/3D hydrogel based bioprinting.