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내시경 영상에서의 딥러닝 기반 상부 위장관 랜드마크 식별
김현서,조병우,강병전 제어·로봇·시스템학회 2023 제어·로봇·시스템학회 논문지 Vol.29 No.11
. Accurate identification of landmarks is critical for effective diagnosis and treatment in endoscopy, particularly in the upper gastrointestinal tract. However, there are many similar structures inside the stomach, and it might be difficult to accurately locate landmarks in camera images because of other factors such as air bubbles and the narrow field of view of wired endoscopic images. This study presents a comparative analysis experiment conducted with a model that can identify anatomical landmarks of the upper gastrointestinal tract with high accuracy through small-scale data-based local augmentation. We used five classes captured by esophagogastroduodenoscopy criterion, preprocessed medical image data to address the class imbalance, and compared the accuracies of ResNet50, MobileNetV2, and DensNet265 models. We used a dataset comprising 2,546 images of patients who underwent upper gastrointestinal endoscopy at Yonsei Severance Hospital. We augmented 4,632 images and evenly distributed them across five classes. Our results indicate that this is the most accurate model for improving diagnosis and treatment in upper gastrointestinal endoscopy. The ReseNet50 model achieved the highest accuracy at 74.88%, followed by the MobileNetV2 model at 78.91% and DensNet265 at 84.70%.
김자영,Phu Bao Nguyen,강병전,최은표,박종오,김창세 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.8
This paper suggests a novel method for the positioning control of a magnetically steerable guidewire without needing to detect a tip angle, which can pass through sharply curved blood vessels with potentially reduced contact between the guidewire end tip and the blood vessel for Percutaneous Coronary Intervention (PCI). The proposed tip-positioning control consists of four parts: 1) Path-regeneration, 2) Feeding control, 3) EMA (Electromagnetic Actuator) control, and 4) Vision tracking. Path-regeneration provides an improved path based on the properties of the guidewire and the size of the blood vessel when the guidewire cannot follow the pre-planned path. Based on the desired path, the feeding control drives the translational motion of the guidewire while the EMA system steers the guidewire’s end tip, which is made of a permanent magnet. A pair of Helmholtz coils is employed for the EMA system, and a vision-tracking algorithm is used to detect the position of the magnet tip in real time. The system was integrated for the preliminary study, and the magnet tip could be controlled so as to track a desired path without any shape or curvature information, which requires the use of an additional catheter model or angle estimation algorithm. The proposed catheter tip position control method was verified by experiments on both smooth and sharply curved blood vessel phantoms. The results showed that the proposed method could accomplish the tip position control of the guidewire with high accuracy in real time.
승성민(Sungmin Seung),강병전(Byungjeon Kang),박석호(Sukho Park),박종오(Jongoh Park),김경환(Kyunghwan Kim) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.5
Recently, due to the remarkable progress of robot technologies, many robots are applied to various applications. Especially, for the requests of the high quality medical service, the interests of medical robot rapidly increased. The area of medical robot system is classified into surgical robot, surgical assisting robot, surgical simulator and rehabilitation robot. This paper suggested a teleoperation surgical robot system for a minimally invasive brain surgery. The propose robot system consists of 4 DOF master system and 4 DOF slave manipulator, which are driven by electrical motors and tendon mechanism. The haptic feedback in master system can be realized and thus the precise manipulation of the slave system is possible. For the minimally invasive brain surgery, the miniaturized slave manipulator is designed fabricated. The slave system and the master control system are connected by TCP/IP communication and the slave system can be remotely controlled by the master system.