본 증례는 복강경 담낭절제술 후 10년이 경과되어 발생한 총담관 결석의 예로, 결석 내 포함된 외과용 클립이 담관결석의 원인이 되었을 것으로 추정된다. 내시경으로 제거한 총 담관결석 내에 외과용 클립이 발견되어 수술시 사용한 외과용 클립이 총담관 내로 이동하여 총담관 내 결석의 핵으로 작용했을 가능성을 뒷받침한다. 담낭 절제술 후 발생한 우상 복부 통증으로 내원한 환자에서 외과용 클립에 의한 총담관 결석은 진단에 있어 고려해야 할 부분으로 생각된다. 진단은 단순복부촬영에서 우상복부에 금속성 물질이 관찰된다면 의심할 수 있겠으나, 내시경적 담췌관조영술에서 총담관 내에 음영결손과 결석 내부에 금속성 물질이 관찰될 때 가능하다. 치료는 일반적인 총담관 결석의 치료와 동일하며, 내시경을 이용한 유두괄약근 절개술 후 바스켓 및 풍선 카테터를 이용한 결석 제거가 유용하다.

This paper proposes a hand-controller mechanism for manually controlled endoscopic surgical instruments. A wire-driven mechanism is typically adapted for endoscopic surgical tools because motors cannot be embedded to the joints due to the size limitation. The wire-driven mechanism requires length control of wires that are pulled and released according to the desired joint angle. It is difficult for the operator to control individual wire lengths intuitively. The hand-controller mechanism should be able to control the wires easily without complex processes. For this purpose, we propose a mechanism that can control the wire lengths with a simple mechanical structure and its optimal design method using genetic algorithm. We show the simulation and experimental results to confirm the proposed mechanism and design methods are useful for the manually controlled endoscopic surgical instrument.

In spite of the difficulties and uncertain characteristic of cable driven method, surgical robot instrument has adopted it as driving mechanism for various reasons. To overcome the problem of cable system, previous research applied SMCSPO (sliding mode control with sliding perturbation observer) algorithm as robust controller to control the instrument and found that the value of SPO (sliding perturbation observer) followed force disturbance, reaction force loaded on the tip very similarly. Thus, this paper confirms that the perturbation observer is sufficient estimator which finds out the mount of loaded force on the surgical robot instrument. To prove the proposition, simulation using the similar model with an actual instrument and experimental evaluation are performed. The results show that it is possible to substitute SPO for sensors to measure the reaction force. This estimated reaction force will be used to realize haptic function by sending the reaction force to a master device for a surgeon. The results will contribute to create surgical benefit such as shortening the practice time of a surgeon and giving haptic information to surgeon by using it as haptic signal to protect an organ by making force boundary.