Peng L H, Liu H, Yang Y S, Yan B, Jiang W, Pan F, Wang C Y, Zhou Y Y, Zhang X, Shi Y C, Zhang X L, Wang X X, Wang Z K, Wang S F, Wang L, Li J F, Wang W F, Yang J, Wang X D
Department of Gastroenterology and Hepatology, Chinese PLA General Hospital, Beijing 100853, China.
Zhonghua Yi Xue Za Zhi. 2018 Dec 25;98(48):3963-3968. doi: 10.3760/cma.j.issn.0376-2491.2018.48.012.
To evaluate robot-assisted system YunSRobot to perform oesophagogastroduodenoscopy(EGD) in simulation model and human volunteers. The YunSRobot was invented for soft endoscopy by our team. In this trial, gastroenterologists operated the double handles of YunSRobot to perform EGD endoscopy with Olympus GIF-H 260 in simulation model Lm103 of Koken Japan and human volunteers. The operating time, lumenal anatomic exposure, man-machine interaction and other parameters were recorded and compared with manual endoscopy. In the endoscopy on model, each of four doctors performed 5 procedures of EGD by YunSRobot and traditional manual endoscopy, respectively. The average time of one procedure was (626.4±120.7) seconds in the robot group and (241.5±24.7) seconds in the manual group, the operating time in robot group was more than that in manual endoscopy group. (=14.0, <0.001). However, the robotic manipulation time of the four endoscopists was significantly shortened from the first case to the fifth case with ((783.5±154.8)s, (667.75±85.1)s, (582.0±74.7)s, (555.0±28.9)s, (543.8±29.7)s, =15.353, =0.03). In the endoscopy on human, three physicians operated the EGD endoscopy in 21 volunteers, each physician performed seven volunteers by YunSRobot and traditional manual endoscopy respectively. The average time of each procedure in the robot group and the manual endoscopy group was (875.6±179.8) vs (378.8±80.4)s, the operating time in robot group was also more than that in manual endoscopy group (=10.278, <0.001). Like the endoscopy on model, the robotic manipulation time by the three operators was significantly reduced from the first case to the seventh cases ((954.7±62.1)s, (936.7±116.9)s, (968.7±227.1)s, (1 008.0±229.4)s, (876.7±110.5)s, (735.0±149.2)s, (649.3±81.0)s, =3.79, =0.024). All endoscopic anatomy of EGD were clearly and skillfully observed including esophgus, cardia, fundus, body, gastric angle, antrum, pylorus, first and second parts of duodenum, and papilla in both groups. In all procedures, there were no complications. The soft endoscopy robot YunSRobot is competent to conduct endoscopy of EGD on human. Presently the initial learning time of YunSRobot for EGD is longer than that of experienced manual endoscopy. The learning curve shows that the time of robot manipulation reduces rapidly in the initial procedures. It indicates that YunSRobot system has user-friendly functions and is easy to master.
评估机器人辅助系统YunSRobot在模拟模型和人类志愿者中进行食管胃十二指肠镜检查（EGD）的效果。YunSRobot是我们团队发明的用于软式内镜检查的设备。在本试验中，胃肠病学家操作YunSRobot的双手柄，使用奥林巴斯GIF-H 260在日本Koken的Lm103模拟模型和人类志愿者中进行EGD内镜检查。记录操作时间、管腔解剖结构暴露情况、人机交互情况及其他参数，并与手动内镜检查进行比较。在模型内镜检查中，四位医生分别通过YunSRobot和传统手动内镜检查各进行5次EGD操作。机器人组单次操作的平均时间为（626.4±120.7）秒，手动组为（241.5±24.7）秒，机器人组的操作时间比手动内镜检查组长（=14.0，<0.001）。然而，四位内镜医师的机器人操作时间从第一例到第五例显著缩短（分别为（783.5±154.8）秒、（667.75±85.1）秒、（582.0±74.7）秒、（555.0±28.9）秒、（543.8±29.7）秒，=15.353，=0.03）。在人体内镜检查中，三位医生对21名志愿者进行EGD内镜检查，每位医生分别通过YunSRobot和传统手动内镜检查对7名志愿者进行操作。机器人组和手动内镜检查组每次操作的平均时间分别为（875.6±179.8）秒和（378.8±80.4）秒，机器人组的操作时间也比手动内镜检查组长（=10.278，<0.001）。与模型内镜检查一样，三位操作者的机器人操作时间从第一例到第七例显著减少（分别为（954.7±62.1）秒、（936.7±116.9）秒、（968.7±227.1）秒、（1008.0±229.4）秒、（876.7±110.5）秒、（735.0±149.2）秒、（649.3±81.0）秒，=3.79，=0.024）。两组均能清晰、熟练地观察到EGD的所有内镜解剖结构，包括食管、贲门、胃底、胃体、胃角、胃窦、幽门、十二指肠第一部和第二部以及乳头部位。在所有操作过程中，均未出现并发症。软式内镜机器人YunSRobot能够胜任人体EGD内镜检查。目前，YunSRobot进行EGD检查的初始学习时间比经验丰富的手动内镜检查要长。学习曲线表明，在初始操作过程中机器人操作时间迅速缩短。这表明YunSRobot系统具有用户友好的功能，易于掌握。
