Mechatronics Supported Virtual Bronchoscopy for Navigation in Bronchoscopy of Peripheral Respiratory Tree

Michalski, Darek; Nabagło, Tomasz; Tutaj, Józef; Mysiński, Wojciech; Petryniak, Rafał; Pietrzyk, Damian; Wojciechowski, Wadim; Tabor, Zbisław

doi:10.1007/978-3-319-68195-5_35

Cited by 1 publication

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“…These systems can help physicians to navigate effectively in the area where they can use the bronchoscope vision, and, therefore, only to the third carina of the bronchial tree. Nevertheless, by knowing the three-dimensional image of the bronchial tree from the tomography and analyzing the maneuvers made with the guide, as well as the path traveled by the cannula–guide set, it is possible to precisely predict the position of the guide tip and even visualize its displacement in real time [ 16 ]. All clinically available solutions supporting navigation in peripheral bronchoscopy are based on methods of direct location of the distal tip of the guide inside the airways.…”

Section: Introductionmentioning

confidence: 99%

Measurement Systems for Use in the Navigation of the Cannula–Guide Assembly within the Deep Regions of the Bronchial Tree

Nabagło

Tabor

Augustyniak

2023

Sensors

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Background: The purpose of this paper is to present the spatial navigation system prototype for localizing the distal tip of the cannula–guide assembly. This assembly is shifted through the channel of a bronchoscope, which is fixed in relation to the patient. The navigation is carried out in the bronchial tree, based on maneuvers of the aforementioned assembly. Methods: The system consists of three devices mounted on the guide handle and at the entrance to the bronchoscope working channel. The devices record the following values: cannula displacement, rotation of the guide handle, and displacement of the handle ring associated with the bending of the distal tip of the guide. Results: In laboratory experiments, we demonstrate that the cannula displacement can be monitored with an accuracy of 2 mm, and the angles of rotation and bending of the guide tip with an accuracy of 10 and 20 degrees, respectively, which outperforms the accuracy of currently used methods of bronchoscopy support. Conclusions: This accuracy is crucial to ensure that we collect the material for histopathological examination from a precisely defined place. It makes it possible to reach cancer cells at their very early stage.

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Section: Introductionmentioning

confidence: 99%