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Motions Analysis Based Human Friendly Patient Transportation System |
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Changwon Kim, Ohwon Kwon, Jangho Cho(Korea Institute of Machinery & Materials, Korea) |
| In this research a patient transportation system is developed. To design the patient transportation system, the piggyback motion of human body is mimicked. 3D motion capture based kinematic and kinetic analysis derived the patient transporter’s motion and appropriate motor torque. Through the 3D design based stability analysis of the patient transporting device, the stability of the suggested system is secured.Also hospital operating environment investigating is conducted to decide the base platform dimension. |
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A three-dimensional surface registration method using a spherical unwrapping method and HK curvature descriptors for patient-to-CT registration of image guided surgery |
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Ki Hoon Kwon, Seung Hyun Lee, Min Young Kim(Kyungpook National University, Korea) |
| In image guided surgery, image-to-patient registration process is required to use actively pre-operative images such as CT and MRI during operation. One method that utilizes 3D surface measurement data of patients among several image-to-patient registration methods is dealt with in this paper. After a hand held 3D surface measurement device measures the surface of patient's surgical site, this 3D data is registered to CT or MRI data using computer-based optimization algorithms. However, general ICP algorithm has some disadvantages that it takes a long converging time if a proper initial ... |
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Design of Position and Force Sensors of the Haptic Interface for Training Simulation of Radial Artery Puncture |
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Chengjie Li, Doo Yong Lee, Dezhou Li(KAIST, Korea) |
| This paper proposes position and force sensors of the haptic interface for training simulation of radial artery puncture. the position sensor with two optocouplers and one code stick is designed to measure translational movement of the guidewire. The position sensor can measure linear motion with speed up to 160mm/s with 1mm error. A leverage structure of the designed force sensor is employed with two force sensitive resistors to measure the interaction force. The force sensor can measure 0~10N in needle-insertion direction, and 0~5N in needle-withdrawal direction. |
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Lower limb rehabilitation platform for tailor-made exercise planning and execution |
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Youngwoo Kim(Korea Institute of Machinery & Materials (KIMM), Korea), Suwoong Lee(Korea Institute of Industrial Technology (KITECH), Korea) |
| In this study, we develop lower limb rehabilitation platform for tailor-made exercise planning and execution. In a developed system, human musculo-skeletal model is applied to construct motion trajectory of each joint for lower limb rehabilitation based on the biomechanical analysis. The developed motion trajectories of each joint are realized by a lower limb exoskeletal robot; therefore, human subjects are forced to exercise in a passive manner. |
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A Light-weight Robot End-effector for Biopsy Procedure Automation with Spring-Triggered Biopsy Gun Mechanism |
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Jongseok Won(Asan Medical Center, Korea), Youngjin Moon(Asan Medical Center & University of Ulsan, Korea), Sanghoon Park, Jaesoon Choi(Asan Medical Center, Korea) |
| Biopsy is a typical needle type intervention procedure performed under radiographic image equipment such as computed tomography (CT) and cone-beam CT and a simple and effective way for identifying cancerous condition of a suspicious tissue, but, has radiation exposure problem. In order to overcome such trouble and improve accuracy in targeting of the needle, a robotic end-effector of a master-slave tele-operated needle type intervention robot system has been proposed to perform entire biopsy procedure by the authors. An experimental prototype has successfully shown its feasibility. |
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Robot-assisted Medical Tele-echography System in WAN Environment: Pre-experimental Results |
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Joonho Seo(Korea Institute of Machinery & Materials, Korea), Jang Ho Cho, Ju Young Cha(KIMM, Korea) |
| In this paper, we introduced a robot-assisted tele-echography system based on video conference codecs and
its pre-experimental results. We added a feature to transfer US image data and robot control data in conventional video conference codec. In the experiments, data transmission test was performed in between two places located 120 km away from each other. Master and slave systems are connected through two static IP addresses and 35.6 ms of RTT was measured. Streaming of US images and robot control data was also tested. |
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