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액티브 캐뉼라 로봇의 엔드 이펙터용 손가락모형 메커니즘
김상명(Sangmyung Kim),이수준(Soojun Lee),최동은(Dongeun Choi),이우섭(Woosub Lee),강성철(Sungchul Kang),김계리(Keri Kim) (사)한국CDE학회 2014 한국 CAD/CAM 학회 학술발표회 논문집 Vol.2014 No.2
As minimally invasive surgery has been a trend in the medical world, many medical instruments tend to be thinner and smaller and active cannula robot also has been studied for a decade to implement thin and flexible surgical robot. However, in some cases, we need much higher curvature than the one made by using only pre-curved tubes in active cannula robot. We designed and made a prototype of the end-effector which has high-curvature in order to use active cannula robot in narrow space of human body. The developed end-effector, which has finger-like shape, consists of three joints that are constrained in the form of four-bar linkage and the first link is constrained in the inner tube of the active cannula robot. The end-effector is possible to bend from 0 degrees to 180 degrees and it has 3 degrees of freedom including the translational and rotational motions. In this paper, we verified that the finger-like mechanism has ability to guide camera which is installed at the end section of the end-effector in minimally invasive surgery.
최태영(Taeyoung Choi),이수준(Soojun Lee),이우섭(Woosub Lee),김계리(Keri Kim),강성철(Sungchul Kang) (사)한국CDE학회 2014 한국 CAD/CAM 학회 학술발표회 논문집 Vol.2014 No.2
This paper presents an active cannula robot system and its development for microsurgery. The active cannula robot is composed of concentric precurved tubes in telescoped arrangement and controlled by translation and rotation of each tube. For practical implementation to the various microsurgery operations, a peculiar but undesirable phenomenon, bifurcation is investigated and tried to be managed to avoid the problem. For performance, the overall control system is improved on the point of processing speed and pose accuracy. The pose on the tip is measured by telecentric scope and its workspace is examined for reliable operation.
이상철(Sang Cheol Lee),이수준(Soojun Lee) 한국관리회계학회 2016 관리회계연구 Vol.16 No.3
본 연구의 목적은 외부대주주로서의 기관투자자와 기업가치 사이의 관계를 파악하는 것이다. 본 연구에서는 피투자회사 최대주주의 관계회사가 아닌 기관투자자로 피투자회사 지분을 5%이상 보유한 외부대주주로서의 기관투자자를 경영자에 대한 감시유인을 갖추었다고 판단하였다. 그리고 경영자에 대한 감시유인을 갖춘 외부대주주로서의 기관투자자가 존재할 때, 기업가치가 높은지 검증하였다. 2003년부터 2014년까지 한국거래소에 상장된 비금융기업에 대한 6,550개 기업-년 자료를 대상으로 검증을 실시한 결과, 피투자회사 최대주주의 관계회사가 아닌 기관투자자 가운데 피투자회사 지분을 5%이상 보유한 외부대주주로서의 기관투자자가 존재하는 경우, Tobin’s Q와 Market-to-Book으로 측정한 기업가치가 높은 것으로 나타났다. 이러한 결과를 외부대주주로서의 기관투자자가 경영자에 대한 감시활동을 효과적으로 수행하여 기업가치를 증가시킨다는 것으로 해석하였다. We examine whether the existence of institutional investors as outside bockholders enhances firm value in Korea. Our sample includes 6,550 non-financial firm-year data listed on the Korea Stock Exchange from 2003 to 2014. We find that the firm value represented as Tobin’s Q and Market-to-Book ratio of equity has a positive relation to the existence of institutional investors as outside bockholders. Such association remains robust even after we include various control variables that may explain firm value. We conclude that institutional investors as outside bockholders with monitoring incentives enhance firm value.