多轴全方位机器人造影系统在内镜治疗胆道结石中的应用价值初探

目的探讨在行内镜逆行胰胆管造影（ERCP）时使用Artiszeego机器人对胆道进行3D旋转采集和三维重建的应用价值。方法对12例B超提示胆道扩张的病例，在行ERCP同时使用Artis zeego机器人进行3D旋转采集，并经工作站处理进行三维胆道重建，以内镜和手术取石结果为最终诊断，观察其对肝内外胆管结石诊断的符合率。结果12例患者均完成3D旋转采集和三维重建检查，其诊断结果与ERCP取石和手术取石结果均相符，诊断符合率100％，其中，ERCP诊断中2例肝外胆管结石数量不明，1例可疑结石及2例疑似肝内胆管结石病例均得到明确诊断。结论使用Artis zeego机器人对胆道进行3D旋转采集和三维重建有助于ERCP诊疗中对胆道病变做出精准判断。

Assistance with Artis Zeego Robot Imaging System in ERCP for biliary calculi

Objective To explore the value of Artis zeego robot imaging system endoscopic retrograde cholangiopancreatography (ERCP) for biliary calculi. Methods ERCP was performed on 12 patients with biliary tract dilation, diagnosed by B ultrasonography. Artis zeego robot was used simultaneously to acquire 3D images and biliary system reconstruction. The diagnostic consistency was assessed based on endoscopy and surgery if necessary. Results 3D rotating acquisition and biliary reconstruction were performed in the 12 patients. All diagnosis coincided with those of surgery and ERCP findings, achieving a consistency rate of 100%. Patients with extrahepatic bile duct stones of uncertain number (n = 2), with suspected biliary duct calculi ( n = 1 ) and with suspected intrahepatic bile duct stones ( n = 2) under ERCP were all diagnosed by the robot imaging system. Conclusion During ERCP, 3D rotating image acquisition and biliary reconstruction with Artis zeego robot is helpful for precise diagnosis of biliary tract stones.