磁控大腸內視鏡之左側臥應用

Abstract

磁控大腸內視鏡相較於傳統大腸鏡具有許多優勢[1]，如: 舒適性、低壓迫性、受試者可選擇不麻醉並透過磁力大腸鏡的鏡頭回傳大腸內部的狀況。本實驗室致力於磁控大腸內視鏡的開發已有數年的時間，在影像辨識方面透過機器學習的方式協助辨識腸道內部的病變及達到腸腔自動校正[2, 3]。在磁控牽引平台方面，可以達到自動巡航牽引[4]，大幅縮短醫師的操作時間與難度。因此我們在磁控大腸內視鏡的操控與影像方面都有不錯的成果。在研究與開發磁控大腸內視鏡的領域，國內外的研究團隊幾乎都是以病患平躺進行檢查的方式來開發新技術，然而這與傳統內視鏡採用左側臥[5, 6]的檢查方式大不相同。雖然我們已經有成熟的機械手臂進行仰臥式的磁控大腸內視鏡的牽引，但在現階段的環境下，機械手臂終究只是輔助，而醫師對於內視鏡的掌握與操作才是關鍵因素，因此相較於要求多年經驗且資歷豐富的醫師從頭學習，我們更應該開發一套能直接輔佐醫師且減輕患者檢查所帶來的不適感的設備。故本研究提出一套用於左側臥牽引的介面，改良磁控內視鏡只能用於仰臥的缺點，讓醫生可以在傳統左側臥的姿勢進行磁控大腸內視鏡的牽引，在盡可能地保留原先的所有功能(如: 磁控大腸內視鏡定位、磁控大腸內視鏡姿態的控制、磁控大腸內視鏡的軌跡紀錄及 Sweeping-Mode 外，同時簡化電腦端的界面操作難度，提供更完整的資訊。

Magnetic-controlled capsule endoscopy offers several advantages over traditional endoscopy, such as comfort, reduced pressure, and the ability for patients to choose not to be anesthetized. Our laboratory has been developing magnetic-controlled colonoscopy for years, using machine learning to aid in lesion recognition and achieve automatic lumen correction. The magnetic traction platform allows for automated navigation, reducing the learning curve for physicians. We have made significant progress in both manipulation and imaging convenience. Research on magnetically controlled colonoscopes has predominantly focused on developing technologies for patient examination in the supine position, which differs from the traditional left lateral decubitus position used in conventional endoscopy. Although robotic arms are available for endoscope traction, they serve as assistive tools while the expertise and manual skills of the endoscopist remain crucial. Therefore, it is not ideal to expect experienced colonoscopy physicians to learn a new endoscope platform from scratch. In this study, we propose an interface for left lateral decubitus traction, addressing the limitation of magnetically controlled endoscopes being applicable only in the supine position. This interface allows physicians to perform magnetically controlled colonoscope traction in the traditional left lateral decubitus position, simplifying the computer interface operation and providing comprehensive information.