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Kinematic Requirements of a Haptic Interface for Simulation of Endonasal Endoscopic Skull Base Surgery |
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Heejae Goh, Suyong Kim, Seung Gyu Kang, Doo Yong Lee(KAIST, Korea) |
| Two haptic devices with spherical mechanisms, and an endoscope model are designed for simulation of endonasal endoscopic skull base surgery. Kinematic requirements of the haptic devices are analyzed based on target procedures to be simulated. Six target procedures are selected by expert surgeons based on importance and difficulty of the procedures. Truncated convex-cone-shaped workspace is derived from analysing the structure of the nasal cavity and periphery of the pituitary gland. Points on the surface of the workspace are selected, where force up to 24 N can be exerted to by the haptic ... |
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AR based Smart guide system for interventional cardiology procedures |
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Ik-gyu Jang(Gumi Electronics & Information Technology Research Institute, Korea) |
| Abstract: Remote control intervention surgery robotic system improves treatment effect on cardiovascular patients and reduces X-ray exposure. However, at the time of the first procedure, CT (computerized tomography) and other ultrasound diagnostic equipment should be used because the operator must insert the cannula directly into the patient's leg. Improvements to this have been un-met-needs of hospitals. In this paper, we developed a system that can insert the cannula intuitively and quickly by displaying blood vessels at a glance through the system using smart wearable glasses. During the d |
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KIMM Robotic Ankle-Foot Prosthesis Based on a Unified Actuator Module and Parallel Springs |
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Hyun Soo Woo, Jang Ho Cho, Hyuk Jin Lee(KIMM, Korea) |
| A robotic ankle-foot prosthesis is studied in this paper. An active ankle-foot prosthesis with propulsion is known to be helpful for amputees to walk more naturally and efficiently. The robotic ankle provides adaptive torque for different walking speed and walking surfaces. In this research, the light weight unified actuator module was developed
by combining frameless motor, harmonic drive and torque sensor. A parallel spring mechanism was also devised to increase the stability and decrease power consumption of the robotic ankle. |
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Design of Tele-Robotic System for Transurethral Resection of Bladder Tumor |
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Juen Choi, Dong-Ho Lee, Bomi Yang(Asan Medical Center, Korea), Jaesoon Choi, Bum-Sik Hong, Youngjin Moon(Asan Medical Center & University of Ulsan, Korea) |
| This paper presents a new robotic system for transurethral resection of bladder tumor (TURBT). In the conventional TURBT, a rigid type endoscopic tool called resectoscope is used to be inserted into a urethra, look inside a bladder, and resect tumors. However, the surgery using the resectoscope has clinical unmet needs such as accurate and precise resection of tumors, easy manipulation of the existing surgical tool, and reduced fatigue of surgeons. To resolve the problems, the surgical procedure using existing medical devices is analyzed and then a concept of a tele-robotic system is devised. |
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A Novel Vascular Intervention Assist Robot |
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Jaesoon Choi(Asan Medical Center / University of Ulsan College of Medicine, Korea) |
| X-ray exposure, long–time fatigue operation and experience–dependent successful rate are serious problems for endovascular interventionists. Existing robotic systems don’t ideally replace conventional vascular interventional procedures yet. A novel robotic vascular intervention system was developed. The slave robot can control guiding catheter, guide wire and balloon/stent catheter simultaneously. Animal experiments using pig were done to evaluate the robotic vascular intervention system. Guide wire was successfully introduced into the coronary artery using fluoroscopic visualization. |
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Spatiotemporal shape modeling method for left atrial cardiac ablation |
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Siyeop Yoon(Korea Institute of Science and Technology, Korea) |
| In this paper, we propose a new method for real-time motion modeling of the left atrium. Our method rapidly
interpolates the shapes of the atrium from keyframe models. In order to avoid the heavy computation and correspondence search in shape interpolation, we utilize cage based shape representation. Pair-wise registration facilitates to finding an optimal deformation between keyframes. We evaluate the proposed method by comparing the interpolated shape model and manually segmented atrium model. The average error of shape interpolation was average 1.13 mm. |
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