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Development of a New Neurosurgical 5-DOF Parallel Robot for Stereotactic DBS Operations
김성목,이병주,정재헌,정주노,김희국 한국정밀공학회 2017 International Journal of Precision Engineering and Vol.18 No.3
In this study, a new 5-degree of freedom parallel-type robot for neurosurgery is developed and investigated for potential application in deep brain surgery (DBS). The neurosurgical robot consists of the base plate, the moving plate, and three limbs (a PPPU type central limb and two SPS type side limbs) connecting the plates. With an intension to use the developed neurosurgical micro robot with a macro scale robot, the position and kinematic analyses of the macro–micro robot are conducted. A structural analysis under the maximum payload condition is also conducted to confirm its structural rigidity. Then, a macro–micro robot simulator that employs the prototype as a micro robot module is developed to test both its motion capability and its potential application as a stereotactic DBS device. Finally, the absolute position accuracy measurement of the developed micro robot module based on its identified kinematic calibration model verified that its accuracy is comparable to those of existing micro robot module candidates.
김성목,이병주,김희국 제어·로봇·시스템학회 2013 International Journal of Control, Automation, and Vol.11 No.1
In most of the previous studies on parallel mechanisms (PMs), architectural design mainly relying on symmetric geometry was investigated without in-depth analysis of its performance. This work demonstrates that such a symmetric geometry of multiple subchains sometimes induces a forward kinematic singularity which degrades the overall kinematic performance of PMs within the desired workspace and claims that an asymmetric attachment of those subchains on a moving platform can effectively resolve such a singularity problem. A 4-Degree-of-Freedom (DOF) PM exhibiting Schönflies motions is examined as an example device. First, its mobility analysis and kinematic modeling via screw theory are conducted. Then a singularity analysis based on Grassmann line geometric conditions is carried out, and the forward kinematic singularities of the mechanism are identified and verified by simulations. Based on these analysis and simulations, a forward kinematic singularity-free design is suggested. To show the high potential of the device in practical applications, its output stiffness and dynamic motion capability are examined. Then a prototype is built and its motions capability is verified through experiments.
On the structrue of the macro-micro neurosugical robots in the stereotactic surgey
김성목,김희국 한양대학교 의과대학 2016 Hanyang Medical Reviews Vol.36 No.4
Many different forms of the neurosurgical robots have been suggested for stereotactic surgery. Recently, their position accuracies exceed the ones of the conventional stereotactic devices and their assisting role for the surgeon are helpful by reducing the procedure and the operation time. Recent advancements of the position and image sensing technologies such as CT, MRI, dynamic position tracking sensing, etc., encourages the devotion of researchers to put more effort to treat the uncertainties such as brain shift, unexpected brain movements etc. In this trend, the more adequate, efficient, cost-effective structure of the surgical robot needs to be investigated. Thus, in this paper, the structure of the typical neurosurgical surgical robot and their position accuracies are reviewed and the desirable design aspects are addressed.
좌측 폐쇄성 대장암 환자에서 수술 중 대장내시경 검사의 유용성
김성목,김준환,장병익,김태년,정문관,김재황 대한소화기내시경학회 2004 Clinical Endoscopy Vol.28 No.3
목적: 대장암이나 직장암으로 인하여 대장이 폐쇄되어 있을 경우 수술 전 전대장내시경을 시행할 수 없어 폐쇄부위의 상부에 위치하는 동시성 병변의 진단은 불가능하다. 이에 저자들은 NICI를 이용한 단단계 수술 중 대장내시경 검사를 시행하여 동시성 병변의 관찰 및 수술의 방법에 미치는 영향을 알아보고자 하였다. 대상 및 방법: 1999년 9월부터 2002년 8월까지 좌측 폐쇄성 대장암으로 수술 전 전대장내시경 검사가 불가능했던 62명의 환자를 대상으로 하였다. 수술 중 장세척을 시행한 후 술 중 대장내시경 검사를 시행하여 동반된 암과 용종에 대해서는 동결절편조직 검사를 시행하였고 그 결과에 따라 필요 시 확대절제나 대장절개 및 종괴 제거를 시행하였다. 결과: 평균나이는 61±14세였으며 남녀 비는 30:32이었다. 좌측 폐쇄성 대장암의 위치는 직장이 33예(53.2%), S상결장이 20예(32.3%), 하행결장이 9예(14.5%)로 직장이 가장 많았다. 병변 상부에 존재하는 대장 용종을 가진 예는 31예(50.0%)이었으며 총 92개이었고, 위치는 S상결장 23개, 하행결장 13개, 횡행결장 30개, 상행결장 24개, 맹장 2개였다. 동시성 대장암이 6예(9.7%), 고도 이형성 용종이 2예(3.2%)에서 관찰되었다. 수술 중 대장내시경 검사의 결과에 의해 총 11예(17.7%)에서 수술 방법의 변경이 있었고 방법으로는 전대장 절제 2예, 확대절제 8예, 쐐기형 절제 1예였다. 결론: 폐쇄성 대장암 환자에서 수술 중 NICI를 이용하여 대장내시경 검사를 시행하였을 때 수술 전에 알 수 없었던 동시성 대장암과 용종을 진단할 수 있었고 적절한 치료를 선택할 수 있었다. Background/Aims: The aim of this study was to evaluate the role of an intraoperative colonoscopy for a single stage operation in patients with a left-side colon cancer obstruction. Methods: From September 1999 to August 2002, 62 patients (mean age=61 14 year old, M:F=30:32) underwent an intraoperative colonoscopy during a single stage operation for a left side colon cancer. Intraoperative colonic irrigation method and colonoscopy with NICI (new intraoperative colonic irrigator, MITech Co., Ltd, Seoul, Korea) were used. Results: The locations of the left-side colon cancers were the rectum in 33 (53.2%), sigmoid colon in 20 (32.3%), and descending colon in 9 (14.5%). Synchronous polyps were found in 31 patients (50%). Six patients (9.7%) had a synchronous colon cancer and 2 (3.2%) had a high grade dysplasia. Of these 62 patients, 11 (17.7%) required more extensive surgery than dictated by the primary tumor. Altered operative methods were a total colectomy in 2 patients, an extended resection in 8 patients, and a wedge resection in 1 patient. Conclusions: An intraoperative colonoscopy in patients with a left-side colon cancer is a useful adjunct in diagnosing a synchronous lesions, which should allow a more appropriate surgical procedure.