A Novel Robotic Bronchoscope System for Navigation and Biopsy of Pulmonary Lesions

Abstract

Transbronchial biopsy sampling, as a minimally invasive method with relatively low risk, has been proved to be a promising treatment in the field of respiratory surgery. Although several robotic bronchoscopes have been developed, it remains a great challenge to balance size and flexibility, while integrating multisensors to realize navigation during complex airway networks. This paper proposes a novel robotic bronchoscope system composed by end effector with relatively small size, relevant actuation unit, and navigation system with path planning and surgical guidance capability. The main part of the end effector is machined by bidirectional groove on a nickel–titanium tube, which can realize bending, rotation, and translation 3 degrees of freedom. A prototype of the proposed robotic bronchoscope system is designed and fabricated, and its performance is tested through several experiments to verify the stiffness, flexibility, and navigation performance. The results show that the proposed system is with good environment adaptiveness, and it can become a promising biopsy method through natural cavity of the human body.

Path Planning and Navigation of Miniature Serpentine Robot for Bronchoscopy Application

“…As described above, efficient path planning for navigating the robotic bronchoscopy inside the bronchial tree is necessary. Several previous researchers [ 8 , 9 , 10 , 11 , 12 , 13 , 14 ] have addressed this issue. In this paper, a backward path planning algorithm is proposed, followed by a forward navigation algorithm.…”

“…Refs. [ 13 , 14 ] discussed several schemes to fulfill the functionalities of path planning and navigation. In [ 13 ], Ho, E. et al reviewed several research studies related to path planning for a robotic bronchoscopy; for example, a bronchoscopist begins by reviewing the CT scan of the chest carefully and then writing down the plans to take—starting from the distal trachea to the main bronchus, lobar bronchus, segmental airway, and subsegmental airways, and finally the target.…”

“…[ 13 ] described the significance of a live bronchoscopy view in order to correct the real-time movement of the robotic bronchoscopy. Duan, X., et al [ 14 ] adopted an electromagnetic (EM) localization system integrated into the robotic bronchoscopy for further navigation.…”

Application of Medical Image Navigation Technology in Minimally Invasive Puncture Robot

“…Medical image navigation technology is a technology that combines medical imaging and clinical medicine field operations. Common medical navigation techniques include the following: ultrasound, CT, MRI, optical tracking, endoscope and so on [ 12 ]. By processing and analysing real-time medical images, doctors generate corresponding two-dimensional or three-dimensional images and combine them with the actual anatomy of the patient so that they can precisely determine the location and direction of the operation and improve the efficiency, accuracy, and safety of the procedure [ 13 , 14 , 15 ].…”

Cultural Exchange Centre & Chinese Ceramics Museum in Shenzhen

“…Similarly, Amack et al designed a concentric tubular robot with a compact, modular, and multi-stage mechanism to deploy a steerable needle through a standard flexible bronchoscope [14]. Duan et al developed a bronchoscope robot with a small end-effector composed of a nickel-titanium tube, achieving three degrees of freedom motion [15]. These research efforts have predominantly focused on innovating mechanical structures with focus on novel designs for continuum robots or flexible robots.…”