1. Design of a Teleoperated Robotic Bronchoscopy System for Peripheral Pulmonary Lesion Biopsy
- Author
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Chen, Xing-Yu, Xiong, Xiaohui, Wang, Xuemiao, Li, Peng, Wang, Shimei, Akinyemi, Toluwanimi, Duan, Wenke, Du, Wenjing, Omisore, Olatunji, and Wang, Lei
- Subjects
Physics - Medical Physics - Abstract
Bronchoscopy with transbronchial biopsy is a minimally invasive and effective method for early lung cancer intervention. Robot-assisted bronchoscopy offers improved precision, spatial flexibility, and reduced risk of cross-infection. This paper introduces a novel teleoperated robotic bronchoscopy system and a three-stage procedure designed for robot-assisted bronchoscopy. The robotic mechanism enables a clinical practice similar to traditional bronchoscopy, augmented by the control of a novel variable stiffness catheter for tissue sampling. A rapid prototype of the robotic system has been fully developed and validated through in-vivo experiments. The results demonstrate the potential of the proposed robotic bronchoscopy system and variable stiffness catheter in enhancing accuracy and safety during bronchoscopy procedures.
- Published
- 2023