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NTIS 바로가기제어·로봇·시스템학회 논문지 = Journal of institute of control, robotics and systems, v.20 no.3, 2014년, pp.345 - 355
김민영 (경북대학교 전자공학부) , 조형석 (한국과학기술원 기계공학과)
Since the beginning of the 21st century, emergence of innovative technologies in robotic and telepresence surgery has revolutionized minimally access surgery and continually has advanced them till recent years. One of such surgeries is endoscopic surgery, in which endoscope and endoscopic instrument...
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핵심어 | 질문 | 논문에서 추출한 답변 |
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내시경 로봇 기술의 궁극적 목표는 무엇인가? | 내시경 로봇 기술의 궁극적 목표는 다음과 같다. 첫째, 의료진이 일반 내시경을 직접 조작하여 내시경의 위치와 주시 방향을 조절하듯이, 내시경 로봇에서도 마찬가지로 로봇의 자세 및 위치를 자유자재로 의료진이 조정한다. 둘째, 내시경 로봇이 사전 의료 영상으로부터 계획된 안정 경로와 장애물 회피경로를 따라 움직이거나, 구동 기능을 갖춘 캡슐 내시경이 의료진의 원격 조정을 받아 해당 타켓 위치로 움직인다. 셋째, 특화된 내시경 로봇 수술 도구를 이용하여 해당 타켓 조직의 채취 및 검사 혹은 수술 치료를 포함하는 정해진 의료 임무를 수행하도록 하는 것이다. 이때 기존의 내시경 수술을 내시경 로봇이 풀어야 하는 문제점은 1) 플랫폼 안정성: 다양한 수술도구 및 내시경과 함께 유연성 및 고정 안정성 확보 2) Retraction: 조직을 당기고 봉합하고 클립을 가하기 위한 도구 강직성 확보, 3) Triangulation: 독립적인 시야 매니퓰레이션과 수술 툴간의 매니퓰레이션, 4) 크기: 다양한 수술 도구들을 갖고 소형의 크기유지, 5) 이미지: 내시경 영상의의도하지 않은 영상 회전 등이다[29]. | |
내시경이란? | 내시경은 의료목적으로 신체의 내부를 살펴보기 위한 기구를 가리키며, 내시경 기술의 발달 및 로봇 기술의 발달은 NOTES (Natural Orifice Transluminal Endoscopic Surgery) [14-16] 및 마이크로 로봇[17-21]을 포함하는 유연한 내시경 로봇의 개발을 가능하게 하였다. 특히, 1966년 광섬유의 등장으로, 내시경의 기술 개발[22]은 가속화 되었으며, 섬유의 굴절에도 빛을 전달하는 특성을 이용하여, 인체 내에서 자유자재로 굴곡 가능한 내시경으로 발전하게끔 하였고, 이러한 혁신적인 기술 형태는 기존의 강체형 광학내시경 시장[23]을 급속히 대체시키는 효과를 주었다. | |
내시경 로봇 시스템은 무엇으로 구성되는가? | 내시경 수술 로봇 기술의 기능적 블록 다이어그램은 아래와 같다(그림 3). 내시경 로봇 시스템은 로봇 시각과 손을 보유하고 수술을 담당하는 내시경 로봇, 사전에 획득한 의료영상, 실시간 환자 및 내시경 수술 툴을 추적하는 추적센서, 영상 기반 항법 시스템, 그리고 인간-로봇 상호작용 도구로 구성된다. 내시경 로봇 시스템은 지능적 시각과 지능적 수술 도구가 핵심 기능을 수행한다. |
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