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dc.contributor.author장종성-
dc.date.accessioned2018-07-27T02:00:32Z-
dc.date.available2018-07-27T02:00:32Z-
dc.date.issued2014-12-
dc.identifier.citationMINIMALLY INVASIVE THERAPY & ALLIED TECHNOLOGIES,권: 23 호: 6 페이지: 333-340en_US
dc.identifier.issn1364-5706-
dc.identifier.urihttps://www.tandfonline.com/doi/abs/10.3109/13645706.2014.925929-
dc.identifier.urihttps://repository.hanyang.ac.kr/handle/20.500.11754/73353-
dc.description.abstractBackground: The authors propose and verify a method for the construction of a safety region for minimally invasive brain tumor removal. The safety region is constructed to avoid damaging normal tissues through the movement of a robotic instrument during brain tumor surgery using a telesurgical robotic system and a small port. Material and methods: 3 D boundaries of a tumor and a port were generated as a critical wall to avoid invading normal tissues through an image processing algorithm with consideration of a safe margin. Then, fast collision detection between the boundary and the robotic instrument was continuously performed to monitor the movement of the robotic instrument. Results: An experiment was conducted using the prototype of a telesurgical robot system and a hemispherical phantom. A 3 D boundary was generated from the CT images of the phantom with a safe margin of 2.76 mm. The robotic instrument did not penetrate the boundary. Conclusion: The experimental result shows that our method can contribute toward safe brain tumor removal with robotic surgery.en_US
dc.description.sponsorshipThis work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea Government (MSIP) (No. 2011-0030075).en_US
dc.language.isoenen_US
dc.publisherInforma Healthcareen_US
dc.subjectMinimally invasive brain surgeryen_US
dc.subjecttelesurgeryen_US
dc.subjectsafety regionen_US
dc.subjectcollision detection.en_US
dc.titleConstruction and verification of a safety region for brain tumor removal with a telesurgical robot systemen_US
dc.typeArticleen_US
dc.relation.no6-
dc.relation.volume23-
dc.identifier.doi10.3109/13645706.2014.925929-
dc.relation.page333-340-
dc.relation.journalMINIMALLY INVASIVE THERAPY & ALLIED TECHNOLOGIES-
dc.contributor.googleauthorJang, Jongseong-
dc.contributor.googleauthorKim, Hyung-Wook-
dc.contributor.googleauthorKim, Young-Soo-
dc.relation.code2014036111-
dc.sector.campusS-
dc.sector.daehakRESEARCH INSTITUTE[S]-
dc.sector.departmentINSTITUTE OF INNOVATIVE SURGICAL TECHNOLOGY-
dc.identifier.pidcjs6211-
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RESEARCH INSTITUTE[S](부설연구소) > ETC
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