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강현수,이호진,문찬홍,문원진,김형진,최근호,함영국,이수열,변홍식 대한의용생체공학회 2003 의공학회지 Vol.24 No.4
자기공명영상은 뛰어난 해상도의 해부학적 구조 정보를 제공하여 임상적인 외과수술에 매우 유용하게 적용되고 있다. 영상처리 기법과 MRI 영상유도기법을 이용한 뇌수술은 외과 전문의에게 많은 도움을 줄 수 있다. 본 논문에서는 스테레오 매칭 기법을 이용하여 중재적 시술이 가능한 유도영상시술 시스템의 개발에 관하여 소개하였다. 생검을 수행하기 위하여, MRI 마커, 카메라 마커, 탐침 프로브 마커를 정밀하게 제작하였고 시스템의 정확성을 입증하기 위하여 팬텀을 제작하였다. 제작된 마커와 팬텀을 이용하여 1.5 Tesla MRI 시스템으로 실험을 수행하였다. 구현된 시스템의 오차범위는 팬텀 실험에서 약 1.5%였고, 동물실험에서는 오차가 3mm 이내로 임상적용이 가능한 수준임을 착인하였다. 본 연구에서 제시한 스테레오 매칭기법을 이용한 유도영상시술 시스템은 기존의 방법보다 우수한 성능을 보여주었다. MRI provides anatomical structure information with superb spatial resolution that can be utilized in clinical surgeries. Advanced image processing techniques in conjunction with the MRI-guided surgery is expected to be of great importance in brain surgeries in the near future. In this paper, we introduce an image-guided surgery technique using the stereo matching method. To perform image-guided biopsy operations, we made MRI markers, camera markers and a detection probe marker. To evaluate the accuracy of the image-guided system. we made a silicone phantom. Using the phantom and markers, we have performed MRI-guided experiments with a 1.5 Tesla MRI system. It has been verified from phantom experiments that our system has a positioning error less than 1.5%. Compared with other image guided surgery system, our system shows better positioning accuracy.
An Image-Guided Robotic Surgery System for Spinal Fusion
Goo Bong Chung,Sungmin Kim,Soo Gang Lee,Byung-Ju Yi,Wheekuk Kim,Se Min Oh,Young Soo Kim,Byung Rok So,Jong Il Park,Seong Hoon Oh 대한전기학회 2006 International Journal of Control, Automation, and Vol.4 No.1
The goal of this work is to develop and test a robot-assisted surgery system for spinal fusion. The system is composed of a robot, a surgical planning system, and a navigation system. It plays the role of assisting surgeons for inserting a pedicle screw in the spinal fusion procedure. Compared to conventional methods for spinal fusion, the proposed surgical procedure ensures minimum invasion and better accuracy by using robot and image information. The robot plays the role of positioning and guiding needles, drills, and other surgical instruments or conducts automatic boring and screwing. Pre-operative CT images intra-operative fluoroscopic images are integrated to provide the surgeon with information for surgical planning. Some experiments employing the developed robotic surgery system are conducted. The experimental results confirm that the system is not only able to guide the surgical tools by accurately pointing and orienting the specified location, but also successfully compensate the movement of the patient due to respiration.
정구봉(Goo Bong Chung),이수강(Soo Gang Lee),김성민(Sungmin Kim),오세민(Se Min Oh),이병주(Byung-Ju Yi),김영수(Young Soo Kim),박종일(Jong Il Park),오성훈(Seong Hoon Oh),김희국(Whee Kuk Kim) 한국정밀공학회 2005 한국정밀공학회 학술발표대회 논문집 Vol.2005 No.10월
The goal of this work is to develop and test a robot-assisted surgery system for spinal fusion. The system is composed of a robot, a surgical planning system, and a navigation system. It plays the role of assisting surgeons for inserting a pedicle screw in the spinal fusion procedure. Compared to conventional methods for spinal fusion, the proposed surgical procedure ensures minimum invasion and better accuracy by using robot and image information. The robot plays the role of positioning and guiding needles, drills, and other surgical instruments or conducts automatic boring and screwing. Pre-operative CT images and intra-operative fluoroscopic images are integrated to provide the surgeon with information for surgical planning. Several experiments employing the developed robotic surgery system are conducted. The experimental results confirmed that the system is not only able to guide the surgical tools by accurately pointing and orienting the specified location, but also successfully compensate the movement of the patient due to his/her respiration.
Computer Integrated Surgical Robot System for Spinal Fusion
Kim Sungmin,Chung Goo Bong,Oh Se Min,Yi Byung-Ju,Kim Whee Kuk,Park Jong Il,Kim Young Soo The Korean Society of Medical and Biological Engin 2005 의공학회지 Vol.26 No.5
A new Computer Integrated Surgical Robot system is composed of a surgical robot, a surgical planning system, and an optical tracking system. The system plays roles of an assisting surgeon and taking the place of surgeons for inserting a pedicle screw in spinal fusion. Compared to pure surgical navigation systems as well as conventional methods for spinal fusion, it is able to achieve better accuracy through compensating for the portending movement of the surgical target area. Furthermore, the robot can position and guide needles, drills, and other surgical instruments or conducts drilling/screwing directly. Preoperatively, the desired entry point, orientation, and depth of surgical tools for pedicle screw insertion are determined by the surgical planning system based on CT/MR images. Intra-operatively, position information on surgical instruments and targeted surgical areas is obtained from the navigation system. Two exemplary experiments employing the developed image-guided surgical robot system are conducted.
Hyun-Min Oh,Min-Young Kim 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
Navigation devices are essential components for Image Guided Surgeries(IGS). The optical navigation system has been widely used to guide surgical tools in image-based navigation surgery due to its easy usage and high accuracy. However, optical tracking becomes frequently blind when its line-of-sight between the cameras and the optical markers is occluded. In this paper, a sensor fusion system with inertial navigation and optical navigation systems is proposed to estimate the attitude of surgical tools with markers in spite of optical occlusion situations. Specially, sensor fusion algorithms based on Extended Kalman Filter and sensor calibration algorithms are proposed. To resolve an axis alignment problem between optical tracker and IMU sensor, a coordinate axis calibration method are presented. A series of experimental results shows its effectiveness under optical occlusion.
Jinkon Park,Hyon Min Yoon,Siyeop Yoon,Malinda Vania,Deukhee Lee 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
Endoscopic disc surgery requires a process of inserting a guide-needle to the target lumbar disc. And the insertion path is manually planned by drawing lines on the patient’s skin while monitoring the fluoroscopic view of the lumbar. Such operative procedure inevitably exposes both surgeon and patient to the fluoroscopic radiation emitted from c-arm for a long time. To reduce the radiation exposure time, this study proposes a computer assisted operative planning method implemented by using computer vision and computer graphics theory. This method calculates the 3-dimensional path line of guide-needle from multiple triangular planes. Triangular planes can be obtained by analyzing 2-dimensional images of patient’s disc in 3 different angles from rotationally movable c-arm. Additionally, a method of guiding robot’s control based on the 3-dimensional needle path was developed by implementing the Hand-eye (end-effector and camera) calibration. Hand-eye calibration method calculates the geometric transformation matrix between the c-arm coordinate system and base of guidance robot coordinate system. The proposed system was then tested for its accuracy.
영상유도 뇌수술 장비의 임상적 적용 : Zeiss SMN System
이채혁,이호연,황충진,Lee, Chea Heuck,Lee, Ho Yeon,Whang, Choong Jin 대한신경외과학회 2000 Journal of Korean neurosurgical society Vol.29 No.1
The authors describe the experience with the interactive image-guided Zeiss SMN system, which has been applied to 20 patients with various intracranial lesions during one year. Preoperative radiologic evaluation was CT scan in 6 cases, MRI in 14 cases. In all except one case, average fiducial registration errors were less than 2mm. There was no statistical difference in registration error between CT and MR image. This system considered to be relatively stable with respect to soft and hardware. Also it was useful for the designing of the scalp incision and bone flap and assessing the extent of resection in tumors, especially in gliomas. Moreover, it was helpful to evaluate complex surgical anatomy in skull base surgery.
구강외과 수술용 스텐트 기반 영상유도 수술 시스템의 개발
이우진,김대승,이원진,이삼선,최순철,허민석,허경회,김명진,이지호 대한구강악안면방사선학회 2009 Imaging Science in Dentistry Vol.39 No.3
Purpose : The purpose of this study was to develop a stent-based image guided surgery system and to apply it to oral and maxillofacial surgeries for anatomically complex sites. Materials and Methods : We devised a patient-specific stent for patient-to-image registration and navigation. Threedimensional positions of the reference probe and the tool probe were tracked by an optical camera system and the relative position of the handpiece drill tip to the reference probe was monitored continuously on the monitor of a PC. Using 8 landmarks for measuring accuracy, the spatial discrepancy between CT image coordinate and physical coordinate was calculated for testing the normality. Results : The accuracy over 8 anatomical landmarks showed an overall mean of 0.56±0.16 mm. The developed system was applied to a surgery for a vertical alveolar bone augmentation in right mandibular posterior area and possible interior alveolar nerve injury case of an impacted third molar. The developed system provided continuous monitoring of invisible anatomical structures during operation and 3D information for operation sites. The clinical challenge showed sufficient accuracy and availability of anatomically complex operation sites. Conclusion : The developed system showed sufficient accuracy and availability in oral and maxillofacial surgeries for anatomically complex sites. (Korean J Oral Maxillofac Radiol 2009; 39 : 149-56)