ArticleInternational journal of computer assisted radiology and surgery2019
Transbronchial biopsy catheter enhanced by a multisection continuum robot with follow-the-leader motion.
Article in International journal of computer assisted radiology and surgery, 2019. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 6 papers.
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Who cites it
6 citing papers in PubMed.
- Improved reachability during bronchoscopy with a novel multisection robotic bronchoscope.JTCVS techniques · 2026Article
- Assessing the accuracy of a multisection robotic bronchoscope prototype in localization and targeting of small pulmonary lesions.JTCVS techniques · 2024Article
- AI co-pilot bronchoscope robot.Nature communications · 2024Article
- MemoBox: A mechanical follow-the-leader system for minimally invasive surgery.Frontiers in medical technology · 2022Article
- Visually Navigated Bronchoscopy using three cycle-Consistent generative adversarial network for depth estimation.Medical image analysis · 2021Article
- Design and Experimental Study of Space Continuous Robots Applied to Space Non-Cooperative Target Capture.Micromachines · 2021Article
Corrections and comments
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Authors and funding
5 authors.
Funding
Abstract
purposeCurrent 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.
methodsA 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.
resultsThe robotic catheter deviated from the preplanned approach path by less than the manual catheter did (robotic: [Formula: see text] mm and manual: [Formula: see text] mm), with [Formula: see text]. The average force applied to the wall, producing potential trauma to the wall, was less for the robotic catheter ([Formula: see text] N) than for the manual catheter ([Formula: see text] N), [Formula: see text].
conclusionThis 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.
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