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Virtual Reality-Based Control of Robotic Endoscope in Laparoscopic Surgery
Yeeun Jo,김윤재,Minwoo Cho,이치원,Myungjoon Kim,문혜민,김성완 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.1
Robotic laparoscopic surgery has provided various benefits, but during the surgery, the surgeons are experiencing uncomfortable positioning issue which leads to neck pain and back pain. So, for an enhanced & efficient ergonomic robot- assisted surgery, a novel virtual reality (VR)-based endoscope control system (ECS) is proposed in this research. The overall system in this study is composed of a da Vinci research kit (dVRK), 4-degree-of-freedom ECS, three-dimensional endoscope, and VR headset with a built-in attitude and heading reference system (AHRS) module. Also, the proposed VR headset could replace a stereo viewer in the dVRK which could reduce the size of surgical robot system. Furthermore, the three dimensional endoscope could be controlled by a built-in AHRS module in the VR headset. The proposed system has been verified with four novice volunteers. They showed rapid learning through the peg-transfer task. Additionally, a collision avoidance strategy for VR-based ECS control was developed and verified by performing computer-based simulations. The ergonomic VR-based ECS proposed in this research could greatly reduce surgeon’s pains in both neck and back which potentially reduce surgeon’s workload during the surgery.
Development of Virtual Reality-Vision System in Robot-Assisted Laparoscopic Surgery
Yeeun Jo,Yoon Jae Kim,Hye-Min Moon,Sungwan Kim 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10
The robot-assisted surgical systems that allow minimally invasive surgery have diverse advantages compared to conventional open surgery. However, there still remain some drawbacks to be improved such as the discontinuous surgical operation flow that occurs during switching control between the endoscope system and the patient side manipulator (PSM). It can lead to collision between surgical instruments, possibility of injury to patients, and increased operation time. Thus, a virtual reality-vision system is proposed to enable continuous surgical operation flow and intuitive control of endoscopic system. As a preliminary study, 6 types of motion capture data, pitch down, pitch up, roll left, roll right, yaw left, and yaw right, were collected from two subjects. Signal-to-noise ratio (SNR) is high enough to avoid classification issue, so available ranges of threshold for each motion could be suggested. Based on the provided thresholds, intuitive velocity control strategy of endoscope system will be implemented. Furthermore, collision avoidance system using Oriented Bounded Box (OBB) was designed to suppress user mistakes caused by unintended head motion. The simulation results show motion trajectory of endoscope without any collision with other instruments.
From genome sequencing to the discovery of potential biomarkers in liver disease
오수민,Yeeun Jo,Sungju Jung,Sumin Yoon,유경현 생화학분자생물학회 2020 BMB Reports Vol.53 No.6
Chronic liver disease progresses through several stages, fatty liver, steatohepatitis, cirrhosis, and eventually, it leads to hepatocellular carcinoma (HCC) over a long period of time. Since a large proportion of patients with HCC are accompanied by cirrhosis, it is considered to be an important factor in the diagnosis of liver cancer. This is because cirrhosis leads to an irreversible harmful effect, but the early stages of chronic liver disease could be reversed to a healthy state. Therefore, the discovery of biomarkers that could identify the early stages of chronic liver disease is important to prevent serious liver damage. Biomarker discovery at liver cancer and cirrhosis has enhanced the development of sequencing technology. Next generation sequencing (NGS) is one of the representative technical innovations in the biological field in the recent decades and it is the most important thing to design for research on what type of sequencing methods are suitable and how to handle the analysis steps for data integration. In this review, we comprehensively summarized NGS techniques for identifying genome, transcriptome, DNA methylome and 3D/4D chromatin structure, and introduced framework of processing data set and integrating multi-omics data for uncovering biomarkers.
Leem, Jungtae,Kim, Hyunho,Jo, Hee-Geun,Jeon, Sae-rom,Hong, Yejin,Park, Yeoncheol,Seo, Byungkwan,Cho, Yeeun,Kang, Jung Won,Kim, Eun-Jung,Han, Ga Young,Kim, Jae Soo,Lee, Hyun-Jong,Kim, Tae-Hun,Nam, Dong Williams & Wilkins Co 2018 Medicine Vol.97 No.21
<P><B>Abstract</B></P><P><B>Background:</B></P><P>Back pain is one of the most common diseases, and many patients with recurrent pain seek alternative treatment strategies. Thread embedding acupuncture involves thread insertion at the acupuncture point for continuous physical and chemical stimulation. Although thread embedding is widely used in clinical practice, there is no sound evidence of its efficacy for chronic back pain. We describe the protocol for a randomized controlled trial for investigation of the efficacy and safety of thread embedding acupuncture combined with conventional acupuncture for chronic low back pain.</P><P><B>Methods:</B></P><P>This randomized, controlled, assessor-blinded, 2-armed, parallel, multicenter clinical trial will include 38 outpatients with chronic low back pain recruited from 4 traditional Korean Medicine hospitals. The patients will be randomly allocated to a treatment group (conventional acupuncture + thread embedding acupuncture) and a control group (only conventional acupuncture) in a 1:1 ratio. The treatment group patients will receive thread embedding acupuncture treatment at 10 acupuncture points (multifidus muscle, 4 points; spinal erector muscles, four points; lumbar quadrate muscle, 2 points) once a week for 8 weeks (8 sessions). In addition, all patients will receive conventional acupuncture treatment at 14 acupuncture points (GV3, EX-B5, and bilateral BL23, BL24, BL25, BL26, BL40, and BL60) twice a week for 8 weeks (16 sessions). The primary outcome will be the change in the visual analog scale score from visit 1 to visit 16, analyzed by independent <I>t</I> tests, in both groups. The groups will also be compared with regard to the clinical relevance (minimal clinically important difference), quality of life (3-level version of Euroqol-5D), disability level (Roland and Morris Disability Questionnaire), global assessment (patient global impression of change), and safety. Cost data for cost–benefit and cost-effectiveness analyses will be collected.</P><P><B>Discussion:</B></P><P>Our study results will provide evidence of the efficacy and safety of thread embedding acupuncture combined with conventional acupuncture for the management of chronic low back pain. Even though the assessors will be blinded, the patients will not be blinded to treatment because of the lack of a sham embedding acupuncture group; this is a limitation of our study.</P><P><B>Trial registration:</B></P><P>Clinical Research Information Service: KCT0002666</P>
DNA binding fluorescent proteins for the direct visualization of large DNA molecules
Lee, Seonghyun,Oh, Yeeun,Lee, Jungyoon,Choe, Sojeong,Lim, Sangyong,Lee, Hyun Soo,Jo, Kyubong,Schwartz, David C. Oxford University Press 2016 Nucleic acids research Vol.44 No.1
<P>Fluorescent proteins that also bind DNA molecules are useful reagents for a broad range of biological applications because they can be optically localized and tracked within cells, or provide versatile labels for <I>in vitro</I> experiments. We report a novel design for a fluorescent, DNA-binding protein (FP-DBP) that completely ‘paints’ entire DNA molecules, whereby sequence-independent DNA binding is accomplished by linking a fluorescent protein to two small peptides (KWKWKKA) using lysine for binding to the DNA phosphates, and tryptophan for intercalating between DNA bases. Importantly, this ubiquitous binding motif enables fluorescent proteins (<I>K</I><SUB>d</SUB> = 14.7 μM) to confluently stain DNA molecules and such binding is reversible via pH shifts. These proteins offer useful robust advantages for single DNA molecule studies: lack of fluorophore mediated photocleavage and staining that does not perturb polymer contour lengths. Accordingly, we demonstrate confluent staining of naked DNA molecules presented within microfluidic devices, or localized within live bacterial cells.</P>
MALDI-TOF Analysis of Binding between DNA and Peptides Containing Lysine and Tryptophan
( Seonghyun Lee ),( Sojeong Choe ),( Yeeun Oh ),( Kyubong Jo ) 한국질량분석학회 2015 Mass spectrometry letters Vol.6 No.3
Here, we demonstrate the use of MALDI-TOF as a fast and simple analytical approach to evaluate the DNA-binding capability of various peptides. Specifically, by varying the amino acid sequence of the peptides consisting of lysine (K) and tryptophan (W), we identified peptides with strong DNA-binding capabilities using MALDI-TOF. Mass spectrometric analysis reveals an interesting novel finding that lysine residues show sequence selective preference, which used to be considered as mediator of electrostatic interactions with DNA phosphate backbones. Moreover, tryptophan residues show higher affinity to DNA than lysine residues. Since there are numerous possible combinations to make peptide oligomers, it is valuable to introduce a simple and reliable analytical approach in order to quickly identify DNA-binding peptides.
Kang, Yujin,Lee, Jinyong,Kim, Jisoo,Oh, Yeeun,Kim, Dogeun,Lee, Jungyun,Lim, Sangyong,Jo, Kyubong The Royal Society of Chemistry 2016 The Analyst Vol.141 No.14
<P>Consumption of alcohol injures DNA, and such damage is considered to be a primary cause for the development of cancer and many other diseases essentially due to reactive oxygen species generated from alcohol. To sensitively detect alcohol-induced DNA lesions in a biological system, we introduced a novel analytical platform for visualization of single genomic DNA molecules using E. coli. By fluorescently labelling the DNA lesions, our approach demonstrated, with the highest sensitivity, that we could count the number of DNA lesions induced by alcohol metabolism in a single bacterial cell. Moreover, our results showed a linear relationship between ethanol concentration and the number of DNA lesions: 0.88 lesions per 1% ethanol. Using this approach, we quantitatively analysed the DNA damage induced by exposure to alcoholic beverages such as beer (5% ethanol), rice wine (13%), soju (20%), and whisky (40%).</P>
MALDI-TOF Analysis of Binding between DNA and Peptides Containing Lysine and Tryptophan
Lee, Seonghyun,Choe, Sojeong,Oh, Yeeun,Jo, Kyubong Korean Society for Mass Spectrometry 2015 Mass spectrometry letters Vol.6 No.3
Here, we demonstrate the use of MALDI-TOF as a fast and simple analytical approach to evaluate the DNA-binding capability of various peptides. Specifically, by varying the amino acid sequence of the peptides consisting of lysine (K) and tryptophan (W), we identified peptides with strong DNA-binding capabilities using MALDI-TOF. Mass spectrometric analysis reveals an interesting novel finding that lysine residues show sequence selective preference, which used to be considered as mediator of electrostatic interactions with DNA phosphate backbones. Moreover, tryptophan residues show higher affinity to DNA than lysine residues. Since there are numerous possible combinations to make peptide oligomers, it is valuable to introduce a simple and reliable analytical approach in order to quickly identify DNA-binding peptides.