Feasibility study of robot-assisted endoscopic retrograde cholangiopancreatography for biliary stent placement in an in vivo porcine model

Introduction： ERCP is an advanced endoscopic technique that involves fluoroscopy, and as such it may pose a risk of occupational radiation exposure for medical personnel. This technique also places high demands on the operator's hand dexterity and stability due to its significant technical complexity. To address these issues, we developed a robotic system named “Qifengda” to assist in ERCP procedures. Methods: A novel robotic system for flexible endoscopy with a robotic master-slave manipulator was developed in this study, and its feasibility for assisting endoscopists in ERCP procedures was evaluated in a porcine model. Results: Successful cannulation, cholangiography, and biliary stent placement were performed using this robotic system, without any significant procedure-related adverse events. Conclusions: Our preliminary results demonstrate the feasibility of this robotic endoscopic system for assisting endoscopists in ERCP procedures. In future studies, we will further validate the feasibility and safety of this system in human subjects.