2023
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
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.