Third Department of Internal Medicine, University of Occupational and Environmental Health, Japan, School of Medicine, Kitakyusyu, Japan.
Department of Applied Science for Integrated System Engineering, Faculty of Engineering, Kyushu Institute of Technology, Kitakyusyu, Japan.
Endoscopy. 2015 Sep;47(9):815-9. doi: 10.1055/s-0034-1391973. Epub 2015 Apr 24.
The next generation of flexible endoscopy platforms such as The Master and Slave Transluminal Endoscopic Robot (MASTER) is primarily for remote control manipulation of forceps, but manipulation of the flexible endoscope itself still depends on conventional techniques. We have developed the Endoscopic Operation Robot (EOR) ver.3, which incorporates haptic feedback to provide complete remote control flexible-endoscope manipulation. The present study aimed to evaluate the performance of the EOR ver.3.
A colonoscopy training model was used with scope insertion to the cecum. Force during insertion and insertion time (seconds) to the cecum were evaluated. The data were compared by colon zone and experience level (trainee or expert).
The mean insertion time into the cecum was 118.54 ± 89.42 seconds. Stronger force and torque were required for deeper insertion of the scope. Expert and trainee endoscopists differed in the insertion time to the cecum, maximum counterclockwise torque, mean clockwise torque, and mean counterclockwise torque.
The EOR ver.3 has operability with which endoscopists can easily familiarize themselves.
下一代柔性内窥镜平台，如主从式经腔内镜机器人（Master and Slave Transluminal Endoscopic Robot，MASTER），主要用于远程控制钳子的操作，但柔性内窥镜本身的操作仍依赖于传统技术。我们已经开发了第三代内镜操作机器人（Endoscopic Operation Robot，EOR），它结合了触觉反馈功能，提供了完整的远程控制柔性内镜操作。本研究旨在评估 EOR ver.3 的性能。
使用结肠镜检查训练模型进行插入盲肠的操作。评估插入时的力和插入盲肠的时间（秒）。通过结肠区域和经验水平（新手或专家）对数据进行比较。
插入盲肠的平均时间为 118.54±89.42 秒。为了更深入地插入内镜，需要更大的力和扭矩。专家和新手内镜医生在插入盲肠的时间、最大逆时针扭矩、平均顺时针扭矩和平均逆时针扭矩方面存在差异。
EOR ver.3 具有可操作性，内镜医生可以轻松熟悉。
