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로봇 및 모션제어를 위한 멀티프로세서 구조의 SoC 설계
원종백,하상민,이상태 제어로봇시스템학회 2014 제어로봇시스템학회 각 지부별 자료집 Vol.2014 No.12
This paper describe the design of 4 axes motion control SoC (System On Chip) on the purpose of miniaturization and networking the manufacturing and service robot control system. This SoC has the multiprocessor architecture composed of a network processor and a motion processor. Each SoCs can also link each other by using the industrial network as master/slave form. And this SoC has the hardwired IPs for generating motor position control pulse and 100Mbps industrial network. So users can more easily implement the networking multi-axes motion control application software and the motion control systerm using this SoC will have better performance by the hardwired IPs. In this paper we describe the overall SoC architecture and prove the function of SoC by the function simulation. We implement the designed SoC on the FPGA test board and prove the motion control function.
원종민,홍종원,김미정,윤인식,백우열,이원재,유대현,고윤우,김세헌 연세대학교의과대학 2022 Yonsei medical journal Vol.63 No.8
Purpose: Robotic head and neck surgery is widespread nowadays. However, in the reconstruction field, the use of robotic opera tions is not. This article aimed to examine methodologies for conventional head and neck reconstruction after robotic tumor sur gery in an effort to obtain further options for future reconstruction manipulations. Materials and Methods: A retrospective review of all patients who received head and neck robot surgery and conventional recon structive surgery between October 2016 and September 2021. Results: In total, 53 cases were performed. 67.9% of the tumors were greater than 4 cm. Regarding defect size, 47.2% of the lesionswere greater than 8 cm. In terms of TNM stage, stage 3 disease was recorded in 26.4% and stage 4 in 52.8%. To make a deep andnarrow field wider, we changed the patient’s posture in pre-op field, additional dissection was done. We used radial forearm flapmostly (62.2%). Conclusion: Conventional head and neck reconstruction after robotic ENT cancer surgery is possible. One key step is to secure ad ditional space in the deep and narrow space left after robotic surgery. For this, we opted for a radial forearm flap mostly. This canbe performed as a bridgehead to perform robotic head and neck reconstruction.