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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.
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.
Virtual Reality-Based Control of Robotic Endoscope in Laparoscopic Surgery
Yeeun Jo,김윤재,Minwoo Cho,이치원,Myungjoon Kim,문혜민,김성완 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.1
Robotic laparoscopic surgery has provided various benefits, but during the surgery, the surgeons are experiencing uncomfortable positioning issue which leads to neck pain and back pain. So, for an enhanced & efficient ergonomic robot- assisted surgery, a novel virtual reality (VR)-based endoscope control system (ECS) is proposed in this research. The overall system in this study is composed of a da Vinci research kit (dVRK), 4-degree-of-freedom ECS, three-dimensional endoscope, and VR headset with a built-in attitude and heading reference system (AHRS) module. Also, the proposed VR headset could replace a stereo viewer in the dVRK which could reduce the size of surgical robot system. Furthermore, the three dimensional endoscope could be controlled by a built-in AHRS module in the VR headset. The proposed system has been verified with four novice volunteers. They showed rapid learning through the peg-transfer task. Additionally, a collision avoidance strategy for VR-based ECS control was developed and verified by performing computer-based simulations. The ergonomic VR-based ECS proposed in this research could greatly reduce surgeon’s pains in both neck and back which potentially reduce surgeon’s workload during the surgery.
Development of Virtual Reality-Vision System in Robot-Assisted Laparoscopic Surgery
Yeeun Jo,Yoon Jae Kim,Hye-Min Moon,Sungwan Kim 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10
The robot-assisted surgical systems that allow minimally invasive surgery have diverse advantages compared to conventional open surgery. However, there still remain some drawbacks to be improved such as the discontinuous surgical operation flow that occurs during switching control between the endoscope system and the patient side manipulator (PSM). It can lead to collision between surgical instruments, possibility of injury to patients, and increased operation time. Thus, a virtual reality-vision system is proposed to enable continuous surgical operation flow and intuitive control of endoscopic system. As a preliminary study, 6 types of motion capture data, pitch down, pitch up, roll left, roll right, yaw left, and yaw right, were collected from two subjects. Signal-to-noise ratio (SNR) is high enough to avoid classification issue, so available ranges of threshold for each motion could be suggested. Based on the provided thresholds, intuitive velocity control strategy of endoscope system will be implemented. Furthermore, collision avoidance system using Oriented Bounded Box (OBB) was designed to suppress user mistakes caused by unintended head motion. The simulation results show motion trajectory of endoscope without any collision with other instruments.
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.