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Published in: International Journal of Computer Assisted Radiology and Surgery 11/2019

09-07-2019 | Original Article

Transbronchial biopsy catheter enhanced by a multisection continuum robot with follow-the-leader motion

Authors: Lenny Dupourqué, Fumitaro Masaki, Yolonda L. Colson, Takahisa Kato, Nobuhiko Hata

Published in: International Journal of Computer Assisted Radiology and Surgery | Issue 11/2019

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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: \(0.94 \pm 0.50\) mm and manual: \(1.86 \pm 0.74\) mm), with \(p < 0.01\). The average force applied to the wall, producing potential trauma to the wall, was less for the robotic catheter (\(0.13 \pm 0.11\) N) than for the manual catheter (\(0.94 \pm 0.30\) N), \(p<0.001\).

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.

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Metadata
Title
Transbronchial biopsy catheter enhanced by a multisection continuum robot with follow-the-leader motion
Authors
Lenny Dupourqué
Fumitaro Masaki
Yolonda L. Colson
Takahisa Kato
Nobuhiko Hata
Publication date
09-07-2019
Publisher
Springer International Publishing
Published in
International Journal of Computer Assisted Radiology and Surgery / Issue 11/2019
Print ISSN: 1861-6410
Electronic ISSN: 1861-6429
DOI
https://doi.org/10.1007/s11548-019-02017-w

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