2021
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.
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.