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dc.contributor.author김영수-
dc.date.accessioned2019-03-19T06:40:18Z-
dc.date.available2019-03-19T06:40:18Z-
dc.date.issued2016-11-
dc.identifier.citationPROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE, v. 231, Issue 11, Page. 3-19en_US
dc.identifier.issn0954-4119-
dc.identifier.issn2041-3033-
dc.identifier.urihttps://journals.sagepub.com/doi/10.1177/0954411916676218-
dc.identifier.urihttps://repository.hanyang.ac.kr/handle/20.500.11754/100991-
dc.description.abstractThis article presents a haptic-guided teleoperation for a tumor removal surgical robotic system, so-called a SIROMAN system. The system was developed in our previous work to make it possible to access tumor tissue, even those that seat deeply inside the brain, and to remove the tissue with full maneuverability. For a safe and accurate operation to remove only tumor tissue completely while minimizing damage to the normal tissue, a virtual wall–based haptic guidance together with a medical image–guided control is proposed and developed. The virtual wall is extracted from preoperative medical images, and the robot is controlled to restrict its motion within the virtual wall using haptic feedback. Coordinate transformation between sub-systems, a collision detection algorithm, and a haptic-guided teleoperation using a virtual wall are described in the context of using SIROMAN. A series of experiments using a simplified virtual wall are performed to evaluate the performance of virtual wall–based haptic-guided teleoperation. With haptic guidance, the accuracy of the robotic manipulator’s trajectory is improved by 57% compared to one without. The tissue removal performance is also improved by 21% (p ˂ 0.05). The experiments show that virtual wall–based haptic guidance provides safer and more accurate tissue removal for single-port brain surgery.en_US
dc.description.sponsorshipThe author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This study was financially supported by the IT R&D Program funded by the Ministry of Trade, Industry, and Energy (MOTIE) (no. KI001802), by Leading Foreign Research Institute Recruitment Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT and Future Planning (MSIP) (no. 2012K1A4A3026740), and by Chonnam National University (2012-3142).en_US
dc.language.isoenen_US
dc.publisherSAGE PUBLICATIONS LTDen_US
dc.subjectHaptic guidanceen_US
dc.subjectsingle-port surgical roboten_US
dc.subjectbrain tumor removalen_US
dc.subjectvirtual wallen_US
dc.titleVirtual wall–based haptic-guided teleoperated surgical robotic system for single-port brain tumor removal surgeryen_US
dc.typeArticleen_US
dc.relation.no11-
dc.relation.volume230-
dc.identifier.doi10.1177/0954411916676218-
dc.relation.page1-17-
dc.relation.journalPROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE-
dc.contributor.googleauthorSeung, Sungmin-
dc.contributor.googleauthorChoi, Hongseok-
dc.contributor.googleauthorJang, Jongseong-
dc.contributor.googleauthorKim, Young Soo-
dc.contributor.googleauthorPark, Jong-Oh-
dc.contributor.googleauthorPark, Sukho-
dc.contributor.googleauthorKo, Seong Young-
dc.relation.code2016004985-
dc.sector.campusS-
dc.sector.daehakCOLLEGE OF MEDICINE[S]-
dc.sector.departmentDEPARTMENT OF MEDICINE-
dc.identifier.pidksy8498-
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COLLEGE OF MEDICINE[S](의과대학) > MEDICINE(의학과) > Articles
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