The robot-assisted system YunSRobot for soft endoscopy: a trial of remote manipulation on simulation models
10.3760/cma.j.issn.0578-1426.2018.12.005
- VernacularTitle:软式内镜操控机器人YunSRobot对上消化道仿真模型的远程内镜检查研究
- Author:
Bin YAN
1
;
Hao LIU
;
Yunsheng YANG
;
Yongming YANG
;
Lihua PENG
;
Fei PAN
;
Wei JIANG
;
Tao YU
;
Yuanyuan ZHOU
;
Xiao HE
;
Lei WANG
;
Jianfeng LI
;
Xiaoxiao WANG
;
Xiuli ZHANG
;
Zikai WANG
;
Shufang WANG
;
Yichao SHI
;
Weifeng WANG
;
Jing YANG
;
Xiangdong WANG
Author Information
1. 解放军总医院消化科
- Keywords:
Soft endoscopy robot;
YunSRobot;
Remote manipulation;
Upper gastrointestinal simulation model
- From:
Chinese Journal of Internal Medicine
2018;57(12):901-906
- CountryChina
- Language:Chinese
-
Abstract:
Objective To evaluate the feasibility and safety of the robot - assisted system YunSRobot for remote manipulation endoscopy. Methods When the master of YunSRobot was installed in the gastroenterology office in Chinese PLA General Hospital, the robot slave and upper gastrointestinal simulation model (Takahashi Lm103,Japan) were installed at the same time in the State Key Laboratory of Robotics, Shenyang Institute of Automation. Three physicians were trained to operate the master robotics and performed gastroscopy on the simulation model based on network cloud. Each physician performed 3 procedures of oesophagogastroduodenoscopy (EGD) by YunSRobot using traditional manual endoscopy, on-site operating mode, and remote manipulation mode, respectively. The operating time, lumenal anatomic exposure,man-machine interaction and other parameters were recorded. Results The number of standard pictures obtained by traditional manual endoscopy group, on-site operating group and remote manipulation group were 39.9±0.3, 39.8±0.4, 39.9±0.3, respectively. The images of all five lesions could be obtained by each operation. The operating time in the duodenum of remote group was longer than that of on-site group, with average time (78.2±16.0)s vs. (68.9±15.8)s (P=0.021) respectively. As to the operating time on other parts or total time, all three groups were comparable. Although there was a mean delay of (572.1±48.5) ms in remote operation group, the operation was still smooth. However, compared with on-site group, the percentage of clear view time in the duodenum was significantly shortened in remote group: [(77.8±8.2)% vs. (83.9 ± 6.4)% , P=0.024]. Statistically significant difference was detected in percentage of clear view time neither in other sites, nor was in the total operating time between two groups. The operating time in each part of remote group was obviously longer than that of manual group as followings, pharyngeal (27.3±4.2) s vs. (9.2±1.3)s (P<0.001), esophageal (29.7±6.4)s vs. (19.3±1.6)s (P=0.004), stomach (56.7±17.0)s vs. (40.3±7.0)s (P=0.003), pylorus (20.2±5.5)s vs. (9.3±1.3)s (P<0.001), duodenum (78.2±16.0)s vs. (29.3±5.6)s (P<0.001). Thus the total operating time was also longer in remote group as (559.0±87.2)s vs. (253.1±16.6)s (P<0.001). The respective time in pharynx, esophagus, stomach, pylorus, duodenum, or the overall time was all longer in remote group than that in manual group. Conclusions The soft endoscopy robot YunSRobot has satisfactory safety and stability. Remote upper gastrointestinal endoscopy can be completed based on common network and an endoscope simulation model with smooth operation. The inspection time by YunSRobot robot per part and the overall time are longer than those of manual operation on site, still, remote operating time meets the standard of upper gastrointestinal endoscopy.
