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Alternative TitleAnimal study on master-slave system controlled robot-assisted flexible endoscopy in gastricendoscopy examination
张修礼1; 刘浩2; 彭丽华1; 杨竞1; 王重阳2; 周圆圆2; 江维2; 王淑芳1; 闫斌1; 王巍峰1; 史以超1; 李宗葳1; 杨云生1
Source Publication中华消化杂志
Indexed ByCSCD
Contribution Rank2
Funding Organization国家科技支撑计划(2012BAI14B03) ; 解放军总医院转化医学重点项目(2016TM-002)
Keyword食管镜检查 胃镜检查 动物实验 软镜机器人 YunSRobot 消化内镜机器人
Abstract目的 评估主从式软式内镜操作机器人系统YunSRobot进行活体猪上消化道内镜检查的安全性、可行性和操作效能等.方法 应用主从式软式内镜操作机器人系统YunSRobot和日本奥林巴斯公司生产的胃镜GIF-Q260J,对7只广西巴马小型猪进行上消化道内镜操作.实验分为人工操作组和机器人操作组,由9位熟练操作内镜的消化专科医师先在体外操作机器人1次,熟悉机器人操作原理和方法,而后分别完成人工操作和机器人操作各4例次,记录内镜图像及操作时间.统计学方法采用t检验和单因素方差分析.结果 人工操作组和机器人操作组均能顺利完成标准食管、胃的内镜操作和检查,无出血、穿孔、误入气管、咽喉部损伤、吸入性肺炎等并发症发生.两组均能清楚观察到实验猪的食管、贲门、胃底、胃体、胃角、胃窦和幽门.9位操作者人工操作时间为(3.67±1.95)min,短于机器人操作的(7.60±2.00)min,差异有统计学意义(t=8.445,P<0.01).9位操作者第1次体外操作的时间为(13.10±6.32)min,9位操作者进行动物体内机器人操作的每例次操作时间依次为(8.49±0.90)、(7.50±1.19)、(7.30±1.33)、(7.12±1.61)min,差异有统计学意义(F=7.901,P<0.01);操作时间逐渐缩短,操作熟练度显著提高.结论 主从式软式内镜操作机器人系统YunSRobot对活体动物进行内镜检查操作安全,对食管、胃各部位观察清楚.
Other AbstractObjective To evaluate the safety, feasibility and operational effectiveness of master-slave system controlled Robot-assisted flexible endoscopy ‘YunSRobot’ in upper gastrointestinal endoscopy examination in living pigs. Methods Seven Guangxi BA-MA Mini-pigs underwent upper gastrointestinal endoscopy examination with master-slave system controlled Robot-assisted flexible endoscopy ‘YunSRobot’ and Olympus GIF-Q260J gastroendoscope (Japan). The experiment divided into manual operation group and robot operation group. Nine gastroenterologists skilled with endoscopy operation handled the robot once in vitro to familiar with the mechanism and method of robot operation. And then performed manual operation and robot operation four times each. Endoscopy pictures and operation time were recorded. T test and one-way analysis of variance were performed for statistical analysis. Results Both manual operation and robot operation could successfully finish standard esophagus and stomach endoscopic examination. There were no complications such as hemorrhage, perforation, mistaken insertion into of trachea, injures of pharynx and larynx and inhalation pneumonia. Esophagus, gastric cardia, gastric fundus, gastric body, gastric angle, gastric antrum and gastric pylorus could be clearly observed in both groups. The manual operating time of nine gastroenterologists was (3. 67 ± 1. 95) minutes, which was shorter than that of robot operating time ((7. 60 ± 2. 00) minutes), and the difference was statistically significant (t= 8. 445, P < 0. 01). The time of first in vitro operation performed by nine gastroenterologist was (13. 10 ± 6. 32) minutes. The operation times of each case of nine gastroenterologist were (8. 49 ± 0. 90) minutes, (7. 50 ± 1. 19) minutes, (7. 30 ± 1. 33) minutes and (7. 12 ± 1. 61) minutes. The difference was statistically significant (F= 7. 901, P< 0. 01). Operation time gradually shortened and operation proficiency significantly improved. Conclusion Master-slave system controlled Robot-assisted flexible endoscopy ‘YunSRobot’ which provides a clear observation of esophagus and stomach is safe in endoscopic examination of living animal.
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Cited Times:2[CSCD]   [CSCD Record]
Document Type期刊论文
Corresponding Author杨云生
Recommended Citation
GB/T 7714
张修礼,刘浩,彭丽华,等. 主从式软式内镜操作机器人系统行胃镜检查的动物实验[J]. 中华消化杂志,2018,38(6):361-364.
APA 张修礼.,刘浩.,彭丽华.,杨竞.,王重阳.,...&杨云生.(2018).主从式软式内镜操作机器人系统行胃镜检查的动物实验.中华消化杂志,38(6),361-364.
MLA 张修礼,et al."主从式软式内镜操作机器人系统行胃镜检查的动物实验".中华消化杂志 38.6(2018):361-364.
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