Yeoreum Yoon

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This paper describes a truss climbing robot we designed and prototyped. The robot has a minimalist design with three motive degrees of freedom that enable movement along three-dimensional truss structures. This robot can form a six-degree-of-freedom structure by connecting to another identical module using a passive bar as a medium. We present the design(More)
Self-reconfiguring robots are modular robot systems that are physically connected and capable of making different geometric structures. Most current research in this field is focused on homogeneous systems in which all the modules are identical. This article explores the concept of self-assembling robot systems consisting of passive structural modules plus(More)
We report multimodal imaging of human oral cavity in vivo based on simultaneous wide-field reflectance/fluorescence imaging and polarization-sensitive optical coherence tomography (PS-OCT) with a forward-viewing imaging probe. Wide-field reflectance/fluorescence imaging and PS-OCT were to provide both morphological and fluorescence information on the(More)
Ionizing radiation (IR) injury is tissue damage caused by high energy electromagnetic waves such as X-ray and gamma ray. Diagnosis and treatment of IR injury are difficult due to its characteristics of clinically latent post-irradiation periods and the following successive and unpredictable inflammatory bursts. Skin is one of the many sensitive organs to IR(More)
The detection of colon cancer using endoscopy is widely used, but the interpretation of the diagnosis is based on the clinician's naked eye. This is subjective and can lead to false detection. Here we developed a rapid and accurate molecular fluorescence imaging technique using antibody-coated quantum dots (Ab-QDs) sprayed and washed simultaneously on colon(More)
Polarization-sensitive optical coherence tomography (PS-OCT) is a functional OCT providing both structural and birefringent information of the sample, and it has been applied to the studies of various organs having polarization properties. Fiber-based PS-OCT is sensitive to specular reflection from the sample surface, because signal saturation due to the(More)
Preservation of prostatic nerves is critical to recovery of a man's sexual potency after radical prostatectomy. A real-time imaging method of prostatic nerves will be helpful for nerve-sparing radical prostatectomy (NSRP). Polarization-sensitive optical coherence tomography (PS-OCT), which provides both structural and birefringent information of tissue, was(More)
Minimally invasive robotic surgery required disposable endoscopie optical coherence tomography (OCT) for high-resolution deep tissue imaging and cross-contamination prevention. Here, we developed a miniaturized plastic lens by injection molding for developing a disposable endoscopie optical coherence tomography system for the first time. Injection molding(More)
Laser tattoo removal is an effective method of eliminating tattoo particles in the skin. However, laser treatment cannot always remove the unwanted tattoo completely, and there are risks of either temporary or permanent side effects. Studies using preclinical animal models could provide detailed information on the effects of laser treatment in the skin, and(More)
A truss climbing robot has been extensively investigated because of its wide range of promising applications such as construction and inspection of truss structures. It is designed to have degrees of freedom to move in three-dimensional truss structures. Although many degrees of freedom allow the robot to reach various position and orientation, it causes(More)