Semi-automatic guidance of a biopsy catheter to peripheral airways targets using a novel robotic and computer navigation system
Semi-automatic guidance of a biopsy catheter to peripheral airways targets using a novel robotic and computer navigation system
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使用新型机器人和计算机导航系统将活检导管半自动引导至外周气道目标
DOI：
10.1016/j.matpr.2019.03.128
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
G. Gruionu
中科院分区：
文献类型：
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作者：
L. Gruionu;Cătălin Constantinescu;Andreea Şoimu;C. Ciobîrca;A. Udriștoiu;S. Pastrama;G. Gruionu
在肺癌筛查期间，使用计算机断层扫描检测疑似结节。虽然大多数结节是良性的，但仍然需要组织诊断。目前，所有使用图像引导工具的诊断程序都使患者和医生暴露于有害的X射线辐射。本研究描述了一种新型机器人和电磁跟踪导航系统的开发，用于在外周气道中引导导管，该系统由导航软件和正在申请专利的机器人系统EndoRoTM组成，该系统可半自动插入和引导导管到达气道中的特定目标，而无需CT或荧光透视扫描。对台式气道模型的初步测试表明，新型机器人系统允许通过支气管树导航，包括使用操纵杆的手动操作和无需荧光透视扫描的半自动计算机操作。总的来说，新的机器人系统将允许更精确地引导活检导管到达位于外周气道的目标，减少损伤，并改善早期癌症诊断和治疗的临床结果。
During lung cancer screening, suspected nodules are detected using computed tomography. Although most nodules are benign, a tissue diagnostic is still required. Currently, all diagnostic procedures that use image-guided tools expose both the patient and the medical doctor to damaging X-ray radiation. The present study describes the development of a novel robotic and electromagnetic tracking navigation system to guide a catheter in the peripheral airways and made of a navigation software and a patent pending robotic system, EndoRoTMthat inserts and guides the catheter semi-automatically to reach a specific target in the airways without the need of CT or fluoroscopy scanning. The preliminary tests on a benchtop airway model showed that the novel robotic system allows navigation through the bronchial tree, in both manual manipulation with a joystick and semi-automatic computer manipulation without fluoroscopy scanning. Overall, the new robotic system will allow a more precise guidance of the biopsy catheters to targets located in the peripheral airways, will reduce injury, and improve the clinical outcomes in early cancer diagnosis and treatment.