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Design of Master Console Robot for Natural Orifice Transluminal Endoscopic Surgery
Park Sukhoon,Lim Kyeong Bin,Jeong Jae Muk,Yoon Yong-San 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
NOTES is new concept of surgery which can get similar result without incise patient’"s skin. But, it is difficult to operate with existing surgery instruments which have flexible joint and low degree of freedom. These can be overcome with a surgical robot. In this research, robot controller which can control robot arm instinctively is developed. The structure of the robot controller is similar to the robot arm so that robot arm can move similar movement of robot controller. In this paper, two methods for controlling robot arm are proposed and the feasibility of application of these methods is simulated.
Sukhoon Park,Namjung Kim,Hyunjoon Shin,Kyeongbin Lim,Yong-San Yoon 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2007 International Journal of Assistive Robotics and Me Vol.8 No.3
Total Hip Arthroplasty is a surgical process that replaces a damaged or fractured hip joint with an artificial femoral stem and acetabular cup. It is one of the most successful operations in orthopedic surgery. However, postsurgical results depend largely on the surgeon’s skill. For a more accurate shaping of the femur as well as alignment of the inserted stem, many surgical robots for THA have been developed and commercialized. The most popular robot system for THA is ROBODOC. An earlier surgery robot showed improved results in terms of the error in the angle and in the fit of implant. However, additional surgical procedures are still required with these systems, as it uses a CT image for registration to obtain the transform between the bone coordinate and the robot coordinates. In the HWRS research group, a compact robot system known as ARTHROBOT was designed. It does not use a CT image for registration. This system uses a block-gagebased <BR>registration; therefore, CT or additional procedures are not needed. This robot is fixed to the femur with bone clamp, and the incision larger than in manual surgery. To reduce the incision size, a robot system that is fixed into the femoral cavity was designed. The performance was acceptable; however, the time required for surgery with this system is exceedingly long. In this study, a control method is suggested to reduce the time that is needed for shaping the femur. Following this, the proposed method is verified with plastic bones and bovine bones.
( Sukhoon Yoon ),( Jin-hae Kim ),( Jae-hyeon Park ),( Jiseon Ryu ),( Sang-kyoon Park ),( Joo-nyeon Kim ) 한국운동역학회 2017 한국운동역학회지 Vol.27 No.2
Objective: To investigate rotation movement of segment for performing each position and its effect on knee/hip angulation, COM inclination, and edging angle changes. Method: Twelve Alpine skiers (age: 25.8±4.8 years, height: 173.8±5.9 cm, weight: 71.4±7.4 kg, length of career: 9.9±4.6 years) participated in this study. Each skier was asked to perform counter-rotation, neutral, and rotation positions. Results: Shank and thigh were less rotated in the counter-rotation position than in other positions, whereas the trunk and pelvis were more counter-rotated (p<.05). Hip angulation, COM inclination, and edging angle were significantly greater in the counter-rotation position than in other positions (p<.05). Conclusion: Our finding proved that the counter-rotation position increases hip angulation, COM inclination, and edging angle. Consequently, we suggest that skiers should perform counter-rotation of the trunk and pelvis relative to the ski direction in the vertical axis for the counter-rotation position. Further analysis will continue to investigate the effects of the counter-rotation position in real ski slope with kinetic analysis.
Bivariate Data Analysis for the Lifetime and the Number of Indicative Events of a System
Lee, Sukhoon,Park, Heechang,Park, Raehyun The Korean Reliability Society 2000 International Journal of Reliability and Applicati Vol.1 No.1
This research considers a system which has an ultimate terminal event such as death, critical failure, bankruptcy together with a certain indicative events (temporary malfunction, special treatment, kind of defaults) that frequently occurs before the terminal event comes to the system. Some investigation of a model for the corresponding bivariate data of the system have been done with an explanation of the situation in terms of two continuous variables instead of continuous-discrete variables and some other properties. Also an analysis has been carried out to evaluate the effect of intermediate observation of occurrence of indicative event so that the result can be used for a possible suggestion of an intermediate observing schedule.
Yoon, Sukhoon,Kim, Jin-Hae,Park, Jae-Hyeon,Ryu, Jiseon,Park, Sang-Kyoon,Kim, Joo-Nyeon Korean Society of Sport Biomechanics 2017 한국운동역학회지 Vol.27 No.2
Objective: To investigate rotation movement of segment for performing each position and its effect on knee/hip angulation, COM inclination, and edging angle changes. Method: Twelve Alpine skiers (age: $25.8{\pm}4.8years$, height: $173.8{\pm}5.9cm$, weight: $71.4{\pm}7.4kg$, length of career: $9.9{\pm}4.6years$) participated in this study. Each skier was asked to perform counter-rotation, neutral, and rotation positions. Results: Shank and thigh were less rotated in the counter-rotation position than in other positions, whereas the trunk and pelvis were more counter-rotated (p<.05). Hip angulation, COM inclination, and edging angle were significantly greater in the counter-rotation position than in other positions (p<.05). Conclusion: Our finding proved that the counter-rotation position increases hip angulation, COM inclination, and edging angle. Consequently, we suggest that skiers should perform counter-rotation of the trunk and pelvis relative to the ski direction in the vertical axis for the counter-rotation position. Further analysis will continue to investigate the effects of the counter-rotation position in real ski slope with kinetic analysis.
로봇을 이용한 대퇴 골두의 가공 : 인공 고관절 표면 치환술
박석훈(Sukhoon Park),고병훈(Byung-Hoon Ko),박영배(Youngbae Park),신현준(Hyunjoon Shin),윤용산(Yong-San Yoon) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5
The robot aided surgery for the hip resurfacing arthroplasty with minimal invasiveness is challenging as the registration of the bone as well as the replacement should be performed in a small opening. In this paper, a simple method of registration and carving the femoral head for the hip resurfacing surgery was presented. The surgical robot was tried to cut the plastic model bone with successful results.
평창동계올림픽 알파인 스키 회전ㆍ대회전 코스의 지형 특성 및 경기력 요인에 미치는 영향
윤석훈 ( Yoon Sukhoon ),김진해 ( Jin-hae Kim ),박재현 ( Jae-hyeon Park ),류지선 ( Jiseon Ryu ),박상균 ( Sang-kyoon Park ),김주년 ( Kim Joo Nyeon ) 한국체육대학교 체육과학연구소 2019 스포츠사이언스 Vol.36 No.2
본 연구의 목적은 평창 동계올림픽 알파인 스키 대회전(giant slalom, GS) 및 회전(slalom, SL) 종목이 열린 용평리조트 레인보우 코스에 대한 특성을 정량화하고, 그 특성과 스키어의 속력과의 관계에 대하여 조사하는 것이다. 이를 위해 용평 리조트 레인보우 코스에서 회전 및 대회전 종목 훈련을 지속적으로 실시하고 있는 국가대표 후보팀 선수가 본 연구에 참여하였다. GPS를 이용하여 대회전 및 회전 기문의 위치를 측정하고, 각 종목별로 활주 시 나타나는 스키어의 궤도를 측정하였다. 수집된 위도, 경도, 고도 데이터는 미터단위로 변환하였으며, 기문 간 거리ㆍ기문변화각ㆍ경사도를 산출하여 스키어의 속력과의 상관관계를 분석하였다. 기문 간 거리는 GS에서 28.60±5.26 m, SL에서 12.79±2.53 m, 기문변화각은 GS에서 139.68±13.42°, SL에서 162.94±9.77°, 경사도는 GS에서 -28.54±13.65°, SL에서 -33.66±8.57°로 나타났다. 또한 대회전과 회전 모두 기문 간의 거리와 경사가 스키어의 속력과 유의한 상관관계가 있음을 나타냈다. The aim of this study is to quantify the characteristics of Rainbow course of Yongpyong resort where the giant slalom (GS) and slalom (SL) of the PyeongChang Winter Olympic Games are held, and to investigate the correlation between the characteristics and the skier’s speed. A candidate for the national alpine ski team who are continuously training the giant slalom and slalom at rainbow course of the Yongpyong resort participated in the study. The Global Positioning System (GPS) was used to measure the position of the gates of GS and SL, and to collect the skier’s trajectory when skier was running. The collected latitude, longitude, and altitude data were chaged into meter units, and the gate distance, gate shift angle, and gradient were calculated and the correlation between the skier’s speed and course characteristic parameters was analysed. The gate distance was 28.60±5.26 m in GS and 12.79±2.53 m in SL. The gate shift angle was 139.68±13.42° in GS and 162.94±9.77°, in SL. The gradient was -28.54±13.65° in GS and -33.66±8.57° in SL. In addition, in the giant slalom and slalom, there was a significant correlation between gate distance and skier’s speed and between gradient and skier’s speed.