2023
Banach, Artur; Naito, Masahito; King, Franklin; Masaki, Fumitaro; Tsukada, Hisashi; Hata, Nobuhiko
Computer-based airway stenosis quantification from bronchoscopic images: preliminary results from a feasibility trial Journal Article
In: INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY, vol. 18, no. 4, pp. 707–713, 2023, ISSN: 1861-6410, 1861-6429, (Num Pages: 7 Place: Heidelberg Publisher: Springer Heidelberg Web of Science ID: WOS:000900069100001).
Abstract | Links | BibTeX | Tags: ADULTS, Airway stenosis quantification, Bronchoscopy, DEPTH, Image-guided surgery, OBSTRUCTION, RECONSTRUCTION, TRACHEOBRONCHOMALACIA
@article{banach_computer-based_2023,
title = {Computer-based airway stenosis quantification from bronchoscopic images: preliminary results from a feasibility trial},
author = {Artur Banach and Masahito Naito and Franklin King and Fumitaro Masaki and Hisashi Tsukada and Nobuhiko Hata},
doi = {10.1007/s11548-022-02808-8},
issn = {1861-6410, 1861-6429},
year = {2023},
date = {2023-04-01},
journal = {INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY},
volume = {18},
number = {4},
pages = {707–713},
abstract = {Purpose Airway Stenosis (AS) is a condition of airway narrowing in the expiration phase. Bronchoscopy is a minimally invasive pulmonary procedure used to diagnose and/or treat AS. The AS quantification in a form of the Stenosis Index (SI), whether subjective or digital, is necessary for the physician to decide on the most appropriate form of treatment. The literature reports that the subjective SI estimation is inaccurate. In this paper, we propose an approach to quantify the SI defining the level of airway narrowing, using depth estimation from a bronchoscopic image. Methods In this approach we combined a generative depth estimation technique combined with depth thresholding to provide Computer-based AS quantification. We performed an interim clinical analysis by comparing AS quantification performance of three expert bronchoscopists against the proposed Computer-based method on seven patient datasets. Results The Mean Absolute Error of the subjective Human-based and the proposed Computer-based SI estimation was 24.0 +/- 13.9 [%] and 9.1 +/- 7.7 [%], respectively. The correlation coefficients between the CT measurements were used as the gold standard, and the Human-based and Computer-based SI estimation were-0.05 and 0.46, respectively. Conclusions We presented a new computer method to quantify the severity of AS in bronchoscopy using depth estimation and compared the performance of the method against a human-based approach. The obtained results suggest that the proposed Computer-based AS quantification is a feasible tool that has the potential to provide significant assistance to physicians in bronchoscopy.},
note = {Num Pages: 7
Place: Heidelberg
Publisher: Springer Heidelberg
Web of Science ID: WOS:000900069100001},
keywords = {ADULTS, Airway stenosis quantification, Bronchoscopy, DEPTH, Image-guided surgery, OBSTRUCTION, RECONSTRUCTION, TRACHEOBRONCHOMALACIA},
pubstate = {published},
tppubtype = {article}
}
Purpose Airway Stenosis (AS) is a condition of airway narrowing in the expiration phase. Bronchoscopy is a minimally invasive pulmonary procedure used to diagnose and/or treat AS. The AS quantification in a form of the Stenosis Index (SI), whether subjective or digital, is necessary for the physician to decide on the most appropriate form of treatment. The literature reports that the subjective SI estimation is inaccurate. In this paper, we propose an approach to quantify the SI defining the level of airway narrowing, using depth estimation from a bronchoscopic image. Methods In this approach we combined a generative depth estimation technique combined with depth thresholding to provide Computer-based AS quantification. We performed an interim clinical analysis by comparing AS quantification performance of three expert bronchoscopists against the proposed Computer-based method on seven patient datasets. Results The Mean Absolute Error of the subjective Human-based and the proposed Computer-based SI estimation was 24.0 +/- 13.9 [%] and 9.1 +/- 7.7 [%], respectively. The correlation coefficients between the CT measurements were used as the gold standard, and the Human-based and Computer-based SI estimation were-0.05 and 0.46, respectively. Conclusions We presented a new computer method to quantify the severity of AS in bronchoscopy using depth estimation and compared the performance of the method against a human-based approach. The obtained results suggest that the proposed Computer-based AS quantification is a feasible tool that has the potential to provide significant assistance to physicians in bronchoscopy.
Naito, Masahito; Masaki, Fumitaro; Lisk, Rebecca; Tsukada, Hisashi; Hata, Nobuhiko
Predicting reachability to peripheral lesions in transbronchial biopsies using CT-derived geometrical attributes of the bronchial route Journal Article
In: INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY, vol. 18, no. 2, pp. 247–255, 2023, ISSN: 1861-6410, 1861-6429, (Num Pages: 9 Place: Heidelberg Publisher: Springer Heidelberg Web of Science ID: WOS:000842139400003).
Abstract | Links | BibTeX | Tags: Bronchoscopy, diagnosis, ENDOBRONCHIAL ULTRASOUND, FIBEROPTIC BRONCHOSCOPE, Geometrical index, LUNG LESIONS, Navigation, Reachability, SAFETY, ULTRATHIN BRONCHOSCOPY
@article{naito_predicting_2023,
title = {Predicting reachability to peripheral lesions in transbronchial biopsies using CT-derived geometrical attributes of the bronchial route},
author = {Masahito Naito and Fumitaro Masaki and Rebecca Lisk and Hisashi Tsukada and Nobuhiko Hata},
doi = {10.1007/s11548-022-02723-y},
issn = {1861-6410, 1861-6429},
year = {2023},
date = {2023-02-01},
journal = {INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY},
volume = {18},
number = {2},
pages = {247–255},
abstract = {Purpose The bronchoscopist's ability to locate the lesion with the bronchoscope is critical for a transbronchial biopsy. However, much less study has been done on the transbronchial biopsy route. This study aims to determine whether the geometrical attributes of the bronchial route can predict the difficulty of reaching tumors in bronchoscopic intervention. Methods This study included patients who underwent bronchoscopic diagnosis of lung tumors using electromagnetic navigation. The biopsy instrument was considered "reached" and recorded as such if the tip of the tracked bronchoscope or extended working channel was in the tumors. Four geometrical indices were defined: Local curvature (LC), plane rotation (PR), radius, and global relative angle. A Mann-Whitney U test and logistic regression analysis were performed to analyze the difference in geometrical indices between the reachable and unreachable groups. Receiver operating characteristic analysis (ROC) was performed to evaluate the geometrical indices to predict reachability. Results Of the 41 patients enrolled in the study, 16 patients were assigned to the unreachable group and 25 patients to the reachable group. LC, PR, and radius have significantly higher values in unreachable cases than in reachable cases (p < 0.001, p < 0.001},
note = {Num Pages: 9
Place: Heidelberg
Publisher: Springer Heidelberg
Web of Science ID: WOS:000842139400003},
keywords = {Bronchoscopy, diagnosis, ENDOBRONCHIAL ULTRASOUND, FIBEROPTIC BRONCHOSCOPE, Geometrical index, LUNG LESIONS, Navigation, Reachability, SAFETY, ULTRATHIN BRONCHOSCOPY},
pubstate = {published},
tppubtype = {article}
}
Purpose The bronchoscopist’s ability to locate the lesion with the bronchoscope is critical for a transbronchial biopsy. However, much less study has been done on the transbronchial biopsy route. This study aims to determine whether the geometrical attributes of the bronchial route can predict the difficulty of reaching tumors in bronchoscopic intervention. Methods This study included patients who underwent bronchoscopic diagnosis of lung tumors using electromagnetic navigation. The biopsy instrument was considered “reached” and recorded as such if the tip of the tracked bronchoscope or extended working channel was in the tumors. Four geometrical indices were defined: Local curvature (LC), plane rotation (PR), radius, and global relative angle. A Mann-Whitney U test and logistic regression analysis were performed to analyze the difference in geometrical indices between the reachable and unreachable groups. Receiver operating characteristic analysis (ROC) was performed to evaluate the geometrical indices to predict reachability. Results Of the 41 patients enrolled in the study, 16 patients were assigned to the unreachable group and 25 patients to the reachable group. LC, PR, and radius have significantly higher values in unreachable cases than in reachable cases (p < 0.001, p < 0.001
2021
Masaki, Fumitaro; King, Franklin; Kato, Takahisa; Tsukada, Hisashi; Colson, Yolonda; Hata, Nobuhiko
Technical Validation of Multi-Section Robotic Bronchoscope With First Person View Control for Transbronchial Biopsies of Peripheral Lung Journal Article
In: IEEE transactions on bio-medical engineering, vol. 68, no. 12, pp. 3534–3542, 2021, ISSN: 1558-2531, (Publisher: IEEE Trans Biomed Eng).
Abstract | Links | BibTeX | Tags: biopsy, Bronchoscopes*, Bronchoscopy, doi:10.1109/TBME.2021.3077356, Franklin King, Fumitaro Masaki, Humans, Lung, MEDLINE, National Center for Biotechnology Information, National Institutes of Health, National Library of Medicine, NCBI, NIH, NLM, Nobuhiko Hata, Non-U.S. Gov't, pmid:33945467, PubMed Abstract, Research Support, Robotic Surgical Procedures*
@article{masaki_technical_2021,
title = {Technical Validation of Multi-Section Robotic Bronchoscope With First Person View Control for Transbronchial Biopsies of Peripheral Lung},
author = {Fumitaro Masaki and Franklin King and Takahisa Kato and Hisashi Tsukada and Yolonda Colson and Nobuhiko Hata},
url = {https://pubmed.ncbi.nlm.nih.gov/33945467/},
doi = {10.1109/TBME.2021.3077356},
issn = {1558-2531},
year = {2021},
date = {2021-12-01},
journal = {IEEE transactions on bio-medical engineering},
volume = {68},
number = {12},
pages = {3534–3542},
abstract = {This study aims to validate the advantage of new engineering method to maneuver multi-section robotic bronchoscope with first person view control in transbronchial biopsy. Six physician operators were recruited and tasked to operate a manual and a robotic bronchoscope to the peripheral area placed in patient-derived lung phantoms. The metrics collected were the furthest generation count of the airway the bronchoscope reached, force incurred to the phantoms, and NASA-Task Load Index. The furthest generation count of the airway the physicians reached using the manual and the robotic bronchoscopes were 6.6 textbackslashpm 1.2ˆth and 6.7 textbackslashpm 0.8ˆth. Robotic bronchoscopes successfully reached the 5th generation count into the peripheral area of the airway, while the manual bronchoscope typically failed earlier in the 3 rd generation. More force was incurred to the airway when the manual bronchoscope was used (0.24 textbackslashpm 0.20 [N]) than the robotic bronchoscope was applied (0.18 textbackslashpm 0.22 [N], p< 0.05). The manual bronchoscope imposed more physical demand than the robotic bronchoscope by NASA-TLX score (55 textbackslashpm 24 vs 19 textbackslashpm 16, p< 0.05). These results indicate that a robotic bronchoscope facilitates the advancement of the bronchoscope to the peripheral area with less physical demand to physician operators. The metrics collected in this study would expect to be used as a benchmark for the future development of robotic bronchoscopes.},
note = {Publisher: IEEE Trans Biomed Eng},
keywords = {biopsy, Bronchoscopes*, Bronchoscopy, doi:10.1109/TBME.2021.3077356, Franklin King, Fumitaro Masaki, Humans, Lung, MEDLINE, National Center for Biotechnology Information, National Institutes of Health, National Library of Medicine, NCBI, NIH, NLM, Nobuhiko Hata, Non-U.S. Gov't, pmid:33945467, PubMed Abstract, Research Support, Robotic Surgical Procedures*},
pubstate = {published},
tppubtype = {article}
}
This study aims to validate the advantage of new engineering method to maneuver multi-section robotic bronchoscope with first person view control in transbronchial biopsy. Six physician operators were recruited and tasked to operate a manual and a robotic bronchoscope to the peripheral area placed in patient-derived lung phantoms. The metrics collected were the furthest generation count of the airway the bronchoscope reached, force incurred to the phantoms, and NASA-Task Load Index. The furthest generation count of the airway the physicians reached using the manual and the robotic bronchoscopes were 6.6 textbackslashpm 1.2ˆth and 6.7 textbackslashpm 0.8ˆth. Robotic bronchoscopes successfully reached the 5th generation count into the peripheral area of the airway, while the manual bronchoscope typically failed earlier in the 3 rd generation. More force was incurred to the airway when the manual bronchoscope was used (0.24 textbackslashpm 0.20 [N]) than the robotic bronchoscope was applied (0.18 textbackslashpm 0.22 [N], p< 0.05). The manual bronchoscope imposed more physical demand than the robotic bronchoscope by NASA-TLX score (55 textbackslashpm 24 vs 19 textbackslashpm 16, p< 0.05). These results indicate that a robotic bronchoscope facilitates the advancement of the bronchoscope to the peripheral area with less physical demand to physician operators. The metrics collected in this study would expect to be used as a benchmark for the future development of robotic bronchoscopes.
Kato, Takahisa; King, Franklin; Takagi, Kiyoshi; Hata, Nobuhiko
Robotized Catheter With Enhanced Distal Targeting for Peripheral Pulmonary Biopsy Journal Article
In: IEEE-ASME TRANSACTIONS ON MECHATRONICS, vol. 26, no. 5, pp. 2451–2461, 2021, ISSN: 1083-4435, 1941-014X, (Num Pages: 11 Place: Piscataway Publisher: Ieee-Inst Electrical Electronics Engineers Inc Web of Science ID: WOS:000707442500022).
Abstract | Links | BibTeX | Tags: ABLATION, Bending, biopsy, Bronchoscopy, Catheters, Continuum robots, Design, Dexterous manipulators, LESIONS, Lung, lung biopsy, medical robotics, PLATFORM, REMOTE MAGNETIC NAVIGATION, robotized catheter, robots, SHAPE ESTIMATION, Surgery, SYSTEM, Tools, TRACKING
@article{kato_robotized_2021,
title = {Robotized Catheter With Enhanced Distal Targeting for Peripheral Pulmonary Biopsy},
author = {Takahisa Kato and Franklin King and Kiyoshi Takagi and Nobuhiko Hata},
doi = {10.1109/TMECH.2020.3040314},
issn = {1083-4435, 1941-014X},
year = {2021},
date = {2021-10-01},
journal = {IEEE-ASME TRANSACTIONS ON MECHATRONICS},
volume = {26},
number = {5},
pages = {2451–2461},
abstract = {Transbronchial biopsy with a lung catheter is more appealing with lower complication risks for peripheral pulmonary biopsy. The distal tips of the current lung catheters lack targeting capabilities, however, which prevents a physician from guiding the biopsy tools to lesions, especially those in a peribronchial location. In this study, we investigated if a robotized catheter could enhance distal targeting after passing through tortuous bronchi. We experimentally evaluated targeting accuracy and the spatial dispersion of targeting with attention to catheter shape constraints by utilizing the bronchi of a patient-derived lung phantom. This newly developed robotized catheter has an outer diameter of 3 mm and a total length of 800 mm and comprises two bending sections at the distal 30 mm length. With these two bending sections, the distal tip can be steered to peribronchial lesions followed by the targeting of multiple locations inside the lesion with controlled dispersion to improve opportunities for tissue sampling. In the experimental results, the targeting position error for a peribronchial lesion ranged from 4.6 +/- 1.2 to 7.2 +/- 3.3 mm (mean +/- STD) among the different shape constraints. As for the targeting dispersion, the shape constraints reduced dispersion ability by a maximum of 50% compared to straight reference constraints, while the dispersion was still larger than the expected minimum requirement of 1 mm. One-way analysis of variance concluded that targeting accuracy and targeting dispersion included a significant dependence on shape constraints (p < .05). This study demonstrates the feasibility of enhancing distal targeting with the proposed robotized catheter and found that bronchi shape constraints significantly affect targeting capability.},
note = {Num Pages: 11
Place: Piscataway
Publisher: Ieee-Inst Electrical Electronics Engineers Inc
Web of Science ID: WOS:000707442500022},
keywords = {ABLATION, Bending, biopsy, Bronchoscopy, Catheters, Continuum robots, Design, Dexterous manipulators, LESIONS, Lung, lung biopsy, medical robotics, PLATFORM, REMOTE MAGNETIC NAVIGATION, robotized catheter, robots, SHAPE ESTIMATION, Surgery, SYSTEM, Tools, TRACKING},
pubstate = {published},
tppubtype = {article}
}
Transbronchial biopsy with a lung catheter is more appealing with lower complication risks for peripheral pulmonary biopsy. The distal tips of the current lung catheters lack targeting capabilities, however, which prevents a physician from guiding the biopsy tools to lesions, especially those in a peribronchial location. In this study, we investigated if a robotized catheter could enhance distal targeting after passing through tortuous bronchi. We experimentally evaluated targeting accuracy and the spatial dispersion of targeting with attention to catheter shape constraints by utilizing the bronchi of a patient-derived lung phantom. This newly developed robotized catheter has an outer diameter of 3 mm and a total length of 800 mm and comprises two bending sections at the distal 30 mm length. With these two bending sections, the distal tip can be steered to peribronchial lesions followed by the targeting of multiple locations inside the lesion with controlled dispersion to improve opportunities for tissue sampling. In the experimental results, the targeting position error for a peribronchial lesion ranged from 4.6 +/- 1.2 to 7.2 +/- 3.3 mm (mean +/- STD) among the different shape constraints. As for the targeting dispersion, the shape constraints reduced dispersion ability by a maximum of 50% compared to straight reference constraints, while the dispersion was still larger than the expected minimum requirement of 1 mm. One-way analysis of variance concluded that targeting accuracy and targeting dispersion included a significant dependence on shape constraints (p < .05). This study demonstrates the feasibility of enhancing distal targeting with the proposed robotized catheter and found that bronchi shape constraints significantly affect targeting capability.
Banach, Artur; King, Franklin; Masaki, Fumitaro; Tsukada, Hisashi; Hata, Nobuhiko
Visually Navigated Bronchoscopy using three cycle-Consistent generative adversarial network for depth estimation Journal Article
In: MEDICAL IMAGE ANALYSIS, vol. 73, pp. 102164, 2021, ISSN: 1361-8415, 1361-8423, (Num Pages: 12 Place: Amsterdam Publisher: Elsevier Web of Science ID: WOS:000701725200004).
Abstract | Links | BibTeX | Tags: Bronchoscopy, CANCER, CT Imaging, DIAGNOSTIC BRONCHOSCOPY, guidance, GUIDED BRONCHOSCOPY, Image-guided surgery, Lung cancer, Motion tracking, NODULES, PERIPHERAL LUNG LESIONS, RECONSTRUCTION, SYSTEM, VIDEO REGISTRATION
@article{banach_visually_2021,
title = {Visually Navigated Bronchoscopy using three cycle-Consistent generative adversarial network for depth estimation},
author = {Artur Banach and Franklin King and Fumitaro Masaki and Hisashi Tsukada and Nobuhiko Hata},
doi = {10.1016/j.media.2021.102164},
issn = {1361-8415, 1361-8423},
year = {2021},
date = {2021-10-01},
journal = {MEDICAL IMAGE ANALYSIS},
volume = {73},
pages = {102164},
abstract = {[Background] Electromagnetically Navigated Bronchoscopy (ENB) is currently the state-of-the art diagnostic and interventional bronchoscopy. CT-to-body divergence is a critical hurdle in ENB, causing navigation error and ultimately limiting the clinical efficacy of diagnosis and treatment. In this study, Visually Navigated Bronchoscopy (VNB) is proposed to address the aforementioned issue of CT-to-body divergence. [Materials and Methods] We extended and validated an unsupervised learning method to generate a depth map directly from bronchoscopic images using a Three Cycle-Consistent Generative Adversarial Network (3cGAN) and registering the depth map to preprocedural CTs. We tested the working hypothesis that the proposed VNB can be integrated to the navigated bronchoscopic system based on 3D Slicer, and accurately register bronchoscopic images to pre-procedural CTs to navigate transbronchial biopsies. The quantitative metrics to asses the hypothesis we set was Absolute Tracking Error (ATE) of the tracking and the Target Registration Error (TRE) of the total navigation system. We validated our method on phantoms produced from the pre-procedural CTs of five patients who underwent ENB and on two ex-vivo pig lung specimens. [Results] The ATE using 3cGAN was 6.2 +/-2.9 [mm]. The ATE of 3cGAN was statistically significantly lower than that of cGAN, particularly in the trachea and lobar bronchus (p < 0.001). The TRE of the proposed method had a range of 11.7 to 40.5 [mm]. The TRE computed by 3cGAN was statistically significantly smaller than those computed by cGAN in two of the five cases enrolled (p < 0.05). [Conclusion] VNB, using 3cGAN to generate the depth maps was technically and clinically feasible. While the accuracy of tracking by cGAN was acceptable, the TRE warrants further investigation and improvement. (c) 2021 Elsevier B.V. All rights reserved.},
note = {Num Pages: 12
Place: Amsterdam
Publisher: Elsevier
Web of Science ID: WOS:000701725200004},
keywords = {Bronchoscopy, CANCER, CT Imaging, DIAGNOSTIC BRONCHOSCOPY, guidance, GUIDED BRONCHOSCOPY, Image-guided surgery, Lung cancer, Motion tracking, NODULES, PERIPHERAL LUNG LESIONS, RECONSTRUCTION, SYSTEM, VIDEO REGISTRATION},
pubstate = {published},
tppubtype = {article}
}
[Background] Electromagnetically Navigated Bronchoscopy (ENB) is currently the state-of-the art diagnostic and interventional bronchoscopy. CT-to-body divergence is a critical hurdle in ENB, causing navigation error and ultimately limiting the clinical efficacy of diagnosis and treatment. In this study, Visually Navigated Bronchoscopy (VNB) is proposed to address the aforementioned issue of CT-to-body divergence. [Materials and Methods] We extended and validated an unsupervised learning method to generate a depth map directly from bronchoscopic images using a Three Cycle-Consistent Generative Adversarial Network (3cGAN) and registering the depth map to preprocedural CTs. We tested the working hypothesis that the proposed VNB can be integrated to the navigated bronchoscopic system based on 3D Slicer, and accurately register bronchoscopic images to pre-procedural CTs to navigate transbronchial biopsies. The quantitative metrics to asses the hypothesis we set was Absolute Tracking Error (ATE) of the tracking and the Target Registration Error (TRE) of the total navigation system. We validated our method on phantoms produced from the pre-procedural CTs of five patients who underwent ENB and on two ex-vivo pig lung specimens. [Results] The ATE using 3cGAN was 6.2 +/-2.9 [mm]. The ATE of 3cGAN was statistically significantly lower than that of cGAN, particularly in the trachea and lobar bronchus (p < 0.001). The TRE of the proposed method had a range of 11.7 to 40.5 [mm]. The TRE computed by 3cGAN was statistically significantly smaller than those computed by cGAN in two of the five cases enrolled (p < 0.05). [Conclusion] VNB, using 3cGAN to generate the depth maps was technically and clinically feasible. While the accuracy of tracking by cGAN was acceptable, the TRE warrants further investigation and improvement. (c) 2021 Elsevier B.V. All rights reserved.
2019
Dupourque, Lenny; Masaki, Fumitaro; Colson, Yolonda L.; Kato, Takahisa; Hata, Nobuhiko
Transbronchial biopsy catheter enhanced by a multisection continuum robot with follow-the-leader motion Journal Article
In: INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY, vol. 14, no. 11, pp. 2021–2029, 2019, ISSN: 1861-6410, 1861-6429, (Num Pages: 9 Place: Heidelberg Publisher: Springer Heidelberg Web of Science ID: WOS:000496030000019).
Abstract | Links | BibTeX | Tags: Bronchoscopy, CANCER, COMPUTED-TOMOGRAPHY, Continuum robots, diagnosis, lung biopsy, Multisection robot, NAVIGATION BRONCHOSCOPY, NODULE, Surgical robotics
@article{dupourque_transbronchial_2019,
title = {Transbronchial biopsy catheter enhanced by a multisection continuum robot with follow-the-leader motion},
author = {Lenny Dupourque and Fumitaro Masaki and Yolonda L. Colson and Takahisa Kato and Nobuhiko Hata},
doi = {10.1007/s11548-019-02017-w},
issn = {1861-6410, 1861-6429},
year = {2019},
date = {2019-11-01},
journal = {INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY},
volume = {14},
number = {11},
pages = {2021–2029},
abstract = {Purpose Current manual catheters for transbronchial biopsy in the lung lack a steering ability, which hampers a physician's ability to reach nodules in the peripheral lung. The objective of this paper is to design and build a multisection robot with a follow-the-leader motion and compare the performance of the conventional catheter and our robotic catheter in the right main and right segmental lobar bronchus. Methods A three-section continuum robot with an outer diameter of 3 mm was developed. Each section includes one anchored wire and two driving wires made of stainless steel. Follow-the-leader control is implemented using a joystick for a physician to control the distal section of the robot, while the subsequent two sections follow the controlled distal section. Results The robotic catheter deviated from the preplanned approach path by less than the manual catheter did (robotic Conclusion This study demonstrated an improvement in the maneuverability for the robotic catheter. In addition to a greater aptitude for reaching a peripheral area of the lung, these findings suggest that the designated target in a peripheral area can be reached with less trauma to the bronchi wall.},
note = {Num Pages: 9
Place: Heidelberg
Publisher: Springer Heidelberg
Web of Science ID: WOS:000496030000019},
keywords = {Bronchoscopy, CANCER, COMPUTED-TOMOGRAPHY, Continuum robots, diagnosis, lung biopsy, Multisection robot, NAVIGATION BRONCHOSCOPY, NODULE, Surgical robotics},
pubstate = {published},
tppubtype = {article}
}
Purpose Current manual catheters for transbronchial biopsy in the lung lack a steering ability, which hampers a physician’s ability to reach nodules in the peripheral lung. The objective of this paper is to design and build a multisection robot with a follow-the-leader motion and compare the performance of the conventional catheter and our robotic catheter in the right main and right segmental lobar bronchus. Methods A three-section continuum robot with an outer diameter of 3 mm was developed. Each section includes one anchored wire and two driving wires made of stainless steel. Follow-the-leader control is implemented using a joystick for a physician to control the distal section of the robot, while the subsequent two sections follow the controlled distal section. Results The robotic catheter deviated from the preplanned approach path by less than the manual catheter did (robotic Conclusion This study demonstrated an improvement in the maneuverability for the robotic catheter. In addition to a greater aptitude for reaching a peripheral area of the lung, these findings suggest that the designated target in a peripheral area can be reached with less trauma to the bronchi wall.