Objective: To evaluate robot-assisted system YunSRobot to perform oesophagogastroduodenoscopy(EGD) in simulation model and human volunteers. Methods: 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. Results: 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. (t=14.0, P<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, F=15.353, P=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 (t=10.278, P<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, F=3.79, P=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. Conclusions: 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.
目的： 评价软式内镜操控机器人YunSRobot在上消化道内镜仿真模型以及人体志愿者中进行胃镜操作的性能。方法： 应用我们团队发明的YunSRobot机器人接连奥林巴斯GIF－H 260胃镜。由经验丰富的内镜医师操作机器人的双操作手柄对仿真模型和志愿者进行胃镜检查。记录操作时间、各部位观察、人机互动友好等，并与内镜医师手工操作内镜进行对比。结果： 模型实验中4位医师每人操作机器人操控胃镜及直接手工操控胃镜对仿真模型进行5次操作。机器人组和手工操作组平均操作时间为(626.4±120.7)s与 (241.5±24.7) s(t＝14.0，P<0.001)，机器人组操作检查时间长于人工操作组。但4位内镜医师使用机器人操作由第1例至第5例时间呈明显缩短[(783.5±154.8)、(667.75±85.1)、(582.0±74.7)、(555.0±28.9 )、(543.8±29.7)s；F＝15.353，P＝0.03]。人体实验中3位医师每人操作机器人及直接手工操控胃镜分别为7名志愿者，共计21名志愿者进行胃镜检查。机器人组和人工操作组平均时间为(875.6±179.8)s与(378.8±80.4)s(t＝10.278，P<0.001)，机器人组操作检查时间长于人工操作胃镜组。但3位内镜医师使用机器人操作由第1例至第7例时间呈明显缩短[(954.7±62.1)、(936.7±116.9)、(968.7±227.1)、(1 008.0±229.4)、(876.7±110.5)、(735.0±149.2)、(649.3±81.0)s，F＝3.79，P＝0.024]。两组均能清晰、熟练地观察食管、贲门、胃底、胃体、胃角、胃窦、幽门、十二指肠第一、二段及乳头。所有操作均无并发症发生。结论： YunSRobot软式内镜操控机器人可实现对人体胃镜检查的全面操作。初始学习YunSRobot机器人进行人体上消化道内镜检查时间稍长于标准的人工操作时间，但学习曲线显示应用机器人操作能迅速缩短检查时间、提高操作熟练度，表明该系统具有人机互动友好的功能，易于掌握。.
Keywords: Esophagogastroduodenoscopy; Soft endoscopy robot; Upper gastrointestinal endoscopy simulation model; YunSRobot.