50
“난치병도 척척” 의료로봇기술 여기까지 왔다 나군호 세브란스병원 로봇수술센터/비뇨의학과 연세대학교 의과대학
“난치병도척척”
의료로봇기술여기까지왔다
나군호세브란스병원로봇수술센터/비뇨의학과
연세대학교의과대학
역사적발명 (Historical Inventions)
• 20세기자동차 (1908; 헨리포드)
라디오/텔레비젼컴퓨터/반도체
• 21세기이동통신(mobile communications)
나노기술 (nanobiotech)
로봇공학(robotics)
최초의의료로봇개발Early Surgical Robots
1995 제1차중동전Gulf (Iraq) War
화성탐사선계획Mars Mission
(NASA/ Stanford Univ)
정형외과용로봇Robodoc (IBM; Curexo, Korea)
• 1992 –uncemented hip prosthesis first surgical robot
– cavity accurate to 0.4 mm (10x better than
manual reaming)
– 90% surface contact allows uncemented replacement
Johns Hopkins Hospital : 2003
• Urology : 8093 (3010 Rha) • Gynecology : 755 • General surgery : 11207 • -- Colorectal : 1398• -- HBP : 715• -- Thyroid : 6789• -- Stomach : 2093• -- Ped surg: 173• -- Breast : 39• ENT (TORS) : 1804 • Thoracic Surgery : 403 • Cardiac Surgery : 31• Neurosurgery : 13• Orthopedic : 125• Oromaxillary /Dental: 3• Plastic Surgery : 15
•22447 Cases at Yonsei Severance
•From July, 2005 – March 2019
•2014 daVinci Xi•2005 first daVinci
•Yonsei Surgeons ‘ Contribution to Robotic Surgery
전립선암수술임파선절제술
(Lymph Node Dissection)• 1st Step
• High Stage
• Intra-operative
Ultrasound : Tile-pro
• Advantage in
Parenchymal Suture
Reconstruction
• Advantage in repair
of resection margin
로봇신장수술
최초국내개발 : 인터넷기반수술로봇Korea’s 1st Internet Based Surgical Robot (SR-1)
Seoul – Suwon (35km)
Robotic Architectures -
Microsurgical Robotics
Microsuturing
Robotic surgery: ALF-X
Robotic surgery: Medrobotics 2018
Robot for cardiology
Robotic surgery: MicroHand S China
The Korean Robotic Platform : REVO-I
First Case : Revo-iRetzius-Sparing
Yonsei daVinci SP 2018. 10.
ENT• Transoral access to Oropharynx, Larynx,
Hypopharynx, Nasopharynx
• Retroauricular access to Neck, Thyroid
Transanal Colorectal
Full Thickness Local Excision Total Mesorectal Excision
간호/회진로봇Rounding(Nursing) Robots
SATAVA 7 July, 1999
DARPA
Nursing shortage crisis
Applicable at all levels
Hospitals
Clinics
Nursing Home
Assisted living
Courtesy Yulun Wang, InTouch Technologies, Inc, Goleta, CA
Cold Spring Harbor Laboratory, Long Island, NY
세포수술용레이저(1 x 10 –15 sec)
Time of Flight Spectroscopy
Cellular opto-poration
Los Alamos National Labs, Los Alamos NM
세포수술
Satava September 2003
Surgical console for cellular surgery
Courtesy Prof Jaydev Desai, Drexel Univ, Philadelphia, PA 2005
Motion
Commands
0
5
10
15
20
25
30
35
40
1950 1960 1970 1980 1990 2000 2005 2010 2020 2030 2050
Italy
Korea
Japan
Africa
Asia
North America
World
고령화사회 Aging Population
Rheo Bionic knee Ossur, Reyknavik, Iceland C-leg Otto Bock, Minneapolis, MN
보형물 Intelligent Prostheses
재활로봇 Rehabilitation Machines
for Robot-mediated Therapy
가사도우미로봇Robotics for
Personal AssistanceDevar/Provar
Master-Raid
Fixed Workstations
URMAD Project CareOBot
Mobile Robotic Systems
Helpmate
Wheelchair Mounted Manipulators and
Intelligent Wheelchairs
Sprint Immediate
TIDE-Omni
Modular Distributed Systems
TIDE-MOVAID
INAIL-RTR P3
TOU
HWRS ERC system
General Purpose Robotic Aid
Exact
Dynamics BV,
The
Netherlands,
1991
The MANUS Manipulator
가사로봇시스템 Mobile Manipulator :
Intelligent Assistive System
Docking Facilities
DedicatedInterfaces for
StandardAppliances
Electronic Appliances
Fixed Workstationsfor Control
Robotic Aid
BedroomKitchen
Typical household environment
식사보조로봇 Assistive Robot
Handy 1
Neater eater
SelFeed: Usability test
휴먼노이드 Humanoid Robots
Bicentennial Man
HRP-2
TMSUK IV, TMSUK Inc., Japan
600만불의사나이Wearable Biomechanics
Micera et al., 2005
Korea Institute of Science and Technology
CAS
미래를예측하며Predicting Future (1943)
“세계에는 5대의컴퓨터면충분할것임There is room for 5 computers in the
world”
Thomas Watson
Chairman IBM, 1943
미래에는 Vision (1975)
“집집마다컴퓨터가오는세상이열릴것임A computer on every desk and in every
home”
Bill Gates, Microsoft, 1975
Vision 2019
“모든병원과수술실에로봇이있을것임A robot in every OR (operation room) and in
every hospital” 11robots/68units
