ArticleThorax2026
Tool in lesion verification of shape-sensing robotic-assisted bronchoscopy with cone beam CT in sampling peripheral pulmonary nodules.
Article in Thorax, 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. It is linked to trial NCT05867953 (A Prospective Investigation to Assess the Accurate Tool Placement in Pulmonary Nodule), which is not on this map. Cited by 6 papers.
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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.
A Prospective Investigation to Assess the Accurate Tool Placement in Pulmonary Nodule(s) Using a Robotic Navigational Bronchoscopy System With Adjunct Real-time Imaging
Who cites it
6 citing papers in PubMed.
- Robotic-Assisted Bronchoscopy for Peripheral Pulmonary Lesions: Current Evidence, Clinical Applications, and Future Directions.Diagnostics (Basel, Switzerland) · 2026Review
- Robot-assisted biopsy a bibliometric analysis of global trends, hotspots, and emerging frontiers (2000-2025).Journal of robotic surgery · 2026Article
- Predictors of Diagnostic Yield in Shape-Sensing Robotic-Assisted Bronchoscopy (ssRAB): A Retrospective Single-Center Study.Diagnostics (Basel, Switzerland) · 2026Article
- Learning Curve of Shape-Sensing Robotic-Assisted Bronchoscopy (ssRAB) for Peripheral Pulmonary Lesions in a Thoracic Surgery Center Using the ION System.Journal of clinical medicine · 2026Article
- Real-world comparison of shape-sensing robotic-assisted bronchoscopy and virtual bronchoscopic navigation for peripheral pulmonary lesions: a propensity score-matched study.Respiratory research · 2026Article
- "Landing" in the Peripheral Pulmonary Nodule: A Twenty-first Century Challenge.Open respiratory archivesArticle
Corrections and comments
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Authors and funding
13 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
introductionOur aim was to evaluate the diagnostic and safety performance of shape-sensing robotic-assisted bronchoscopy (ssRAB) with cone beam CT (CBCT) for the biopsy of pulmonary nodules. Additional analysis was performed to assess outcomes for small nodules and those close to the fissure, pleura or mediastinum.
methodsThis single arm, multicentre prospective study enrolled 200 subjects with suspicious pulmonary nodules. Each subject underwent a ssRAB procedure with CBCT and was subsequently followed up. The primary outcome was tool-in-lesion (TIL) confirmed with CBCT. Further endpoints included diagnostic outcomes and rate of adverse events.
resultsOf 200 subjects recruited, 198 subjects had a successful biopsy (whereby lesion was reached and sample was taken) and 97% completed the required follow-up. The median size of the nodules was 13 mm; 26.8% (60/224) have a positive bronchus sign and 181 (80.8%) were located in the outer two-thirds of the lung. TIL was obtained in 99.0% (198/200). The strict diagnostic yield was 85% (170/200) with diagnostic accuracy of 92.0% (184/200) and sensitivity for malignancy of 95.5% (147/154). Diagnostic accuracy for nodules under 20 mm size, within 5 mm from a critical structure (eg, heart, aorta or main pulmonary artery) or from the pleura was 88.2% (172/195), 100% (11/11) and 93.3% (56/60), respectively. There were four (2%) serious procedure-related adverse events, with one patient (0.5%) suffering a pneumothorax.
conclusionssRAB with CBCT can effectively reach and biopsy small pulmonary nodules, including perifissural, peripleural and paramediastinal lesions with a strong safety profile. TRIAL REGISTRATION NUMBER: NCT05867953.
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