Publications

@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}

}

@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}

}

@article{abayazid_using_2018,

title = {Using needle orientation sensing as surrogate signal for respiratory motion estimation in percutaneous interventions},

author = {Momen Abayazid and Takahisa Kato and Stuart G. Silverman and Nobuhiko Hata},

doi = {10.1007/s11548-017-1644-z},

issn = {1861-6410, 1861-6429},

year  = {2018},

date = {2018-01-01},

journal = {INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY},

volume = {13},

number = {1},

pages = {125–133},

abstract = {Purpose To develop and evaluate an approach to estimate the respiratory-induced motion of lesions in the chest and abdomen. Materials and methods The proposed approach uses the motion of an initial reference needle inserted into a moving organ to estimate the lesion (target) displacement that is caused by respiration. The needles position is measured using an inertial measurement unit (IMU) sensor externally attached to the hub of an initially placed reference needle. Data obtained from the IMU sensor and the target motion are used to train a learning-based approach to estimate the position of the moving target. An experimental platform was designed to mimic respiratory motion of the liver. Liver motion profiles of human subjects provided inputs to the experimental platform. Variables including the insertion angle, target depth, target motion velocity and target proximity to the reference needle were evaluated by measuring the error of the estimated target position and processing time. Results The mean error of estimation of the target position ranged between 0.86 and 1.29mm. The processing maximum training and testing time was 5ms which is suitable for real-time target motion estimation using the needle position sensor. Conclusion The external motion of an initially placed reference needle inserted into a moving organ can be used as a surrogate, measurable and accessible signal to estimate in real-time the position of a moving target caused by respiration; this technique could then be used to guide the placement of subsequently inserted needles directly into the target.},

note = {Num Pages: 9 

Place: Heidelberg 

Publisher: Springer Heidelberg 

Web of Science ID: WOS:000419481300013},

keywords = {ABDOMINAL INTERVENTIONS, biopsy, INSERTION, Interventional radiology, Lung, Machine learning, Magnetic Resonance Imaging, MODEL, Motion compensation, percutaneous needle insertion, Radiotherapy, Respiratory motion, SYSTEM, TOMOGRAPHY, TRACKING, TUMOR MOTION},

pubstate = {published},

tppubtype = {article}

}