ArticleProceedings of SPIE--the International Society for Optical Engineering2019
Design and Control of a Compact, Modular Robot for Transbronchial Lung Biopsy.
Article in Proceedings of SPIE--the International Society for Optical Engineering, 2019. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 8 papers.
What it found
Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.
The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.
Who cites it
8 citing papers in PubMed.
- A System for Endoscopic Submucosal Dissection Featuring Concentric Push-Pull Manipulators.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation · 2025Article
- Autonomous medical needle steering in vivo.Science robotics · 2023Article
- Milli-scale cellular robots that can reconfigure morphologies and behaviors simultaneously.Nature communications · 2022Article
- Tip estimation approach for concentric tube robots using 2D ultrasound images and kinematic model.Medical & biological engineering & computing · 2021Article
- Backward Planning for a Multi-Stage Steerable Needle Lung Robot.IEEE robotics and automation letters · 2021Article
- A Recurrent Neural Network Approach to Roll Estimation for Needle Steering.Experimental robotics : the ... international symposium · 2021Article
- STEERABLE NEEDLE TRAJECTORY FOLLOWING IN THE LUNG: TORSIONAL DEADBAND COMPENSATION AND FULL POSE ESTIMATION WITH 5DOF FEEDBACK FOR NEEDLES PASSING THROUGH FLEXIBLE ENDOSCOPES.Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference · 2020Article
- Decoupling Steerability from Diameter: Helical Dovetail Laser Patterning for Steerable Needles.IEEE access : practical innovations, open solutions · 2020Article
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
11 authors.
Funding
Abstract
Lung cancer is one of the most prevalent and deadly forms of cancer, claiming more than 154,000 lives in the USA per year. Accurate targeting and biopsy of pulmonary abnormalities is key for early diagnosis and successful treatment. Many cancerous lesions originate in the peripheral regions of the lung which are not directly accessible from the bronchial tree, thereby requiring percutaneous approaches to collect biopsies, which carry a higher risk of pneumothorax, hemorrhage, and death in extreme cases. In prior work, our group proposed a concept for accessing the peripheral lung through the airways, via a bronchscope deployed steerable needle. In this paper, we present a more compact, modular, multi-stage robot, designed to deploy a steerable needle through a standard flexible bronchoscope, to retrieve biopsies from lesions in the peripheral regions of the lung. The robot has several stages that can control a steerable biopsy needle, as well as concentric tubes, which act as an aiming conduit. The functionality of this robot is demonstrated via closed-loop lesion targeting in a CT scanner. The steerable needle is controlled using a previously proposed sliding mode controller, based on feedback from a magnetic tracker embedded in the steerable needle's tip. Towards developing a clinically viable platform, this system builds on prior work through its modular, compact form factor, and workflow-conscious design that provides precise homing and the ability to interchange tools as needed.
Indexed as
Identifiers
What OpenQuestion holds
Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.