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

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

doi:10.1007/s11548-019-02017-w

Cited by 25 publications

(18 citation statements)

References 23 publications

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“…The achieved average fiducial registration error was 0.72 mm. Bronchoscopic operations were performed using a snake robot developed in our lab (Dupourqué et al, 2019;Kato et al, 2020) with the OVM6946 bronchoscopic camera (OmniVision, CA, USA). The training sequence was recorded by inserting the bronchoscope into Right Upper Lobe, Right Middle Lobe, Left Upper Lobe and Left Middle Lobe of pig lung specimen #1.…”

Section: Bronchoscopic Operations Using Ex-vivo Specimensmentioning

confidence: 99%

Visually Navigated Bronchoscopy using three cycle-Consistent generative adversarial network for depth estimation

Banach

King

Masaki

et al. 2021

Medical Image Analysis

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Background-Electromagnetically Navigated Bronchoscopy (ENB) is currently the state-of-the art diagnostic and interventional bronchoscopy. CT-to-body divergence is a critical hurdle in ENB, causing navigation error and ultimately limiting the clinical efficacy of diagnosis and treatment. In this study, Visually Navigated Bronchoscopy (VNB) is proposed to address the aforementioned issue of CT-to-body divergence.Materials and Methods-We extended and validated an unsupervised learning method to generate a depth map directly from bronchoscopic images using a Three Cycle-Consistent Generative Adversarial Network (3cGAN) and registering the depth map to preprocedural CTs. We tested the working hypothesis that the proposed VNB can be integrated to the navigated bronchoscopic system based on 3D Slicer, and accurately register bronchoscopic images to pre-procedural CTs to navigate transbronchial biopsies. The quantitative metrics to asses the hypothesis we set was Absolute Tracking Error (ATE) of the tracking and the Target Registration Error (TRE) of the total navigation system. We validated our method on phantoms produced from the pre-procedural CTs of five patients who underwent ENB and on two ex-vivo pig lung specimens.Results-The ATE using 3cGAN was 6.2 +/− 2.9 [mm]. The ATE of 3cGAN was statistically significantly lower than that of cGAN, particularly in the trachea and lobar bronchus (p < 0.001). The TRE of the proposed method had a range of 11.7 to 40.5 [mm]. The TRE computed by 3cGAN was statistically significantly smaller than those computed by cGAN in two of the five cases enrolled (p < 0.05).Conclusion-VNB, using 3cGAN to generate the depth maps was technically and clinically feasible. While the accuracy of tracking by cGAN was acceptable, the TRE warrants further investigation and improvement.

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Section: Bronchoscopic Operations Using Ex-vivo Specimensmentioning

confidence: 99%

Visually Navigated Bronchoscopy using three cycle-Consistent generative adversarial network for depth estimation

Banach

King

Masaki

et al. 2021

Medical Image Analysis

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“…In the process of extending, the subsequent segments adjust their curvatures to match that of the path. Dupourqué et al 18 . also presented a multi‐segment catheter that performed a follow‐the‐leader motion along a pre‐planned centerline.…”

Section: Introductionmentioning

confidence: 99%

“…In the process of extending, the subsequent segments adjust their curvatures to match that of the path. Dupourqué et al 18 also presented a multi-segment catheter that performed a follow-the-leader motion along a pre-planned centerline. Chirikjian et al 19 presented a planar navigation approach by constraining the geometry of known environments.…”

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confidence: 99%

Development and validation of a two‐segment continuum robot for maxillary sinus surgery

Hong

Yuan

Cao

et al. 2021

Robotics Computer Surgery

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Background: Existing rigid instruments have difficulties in backward inspection and operation. Moreover, the pathway to the maxillary sinus is curved and narrow, resulting in complex and repetitive manual operations. There is a necessity to develop a retro-flexing robot and achieve path-following motion.Methods: A continuum robotic system is developed for maxillary sinus surgery (MSS). And the system adopts an anatomical constraint-based optimization of the follow-the-leader strategy to generate a safe control scheme along a given path. Results:The accuracy of the system is evaluated, and the task of reaching deepseated targets is performed in a constrained anatomical space. The simulations and experiments of the path-following motion have validated the feasibility of the proposed method. Furthermore, a preliminary porcine study is performed to assess the capability of instruments. Conclusions:The developed continuum robotic system can meet the requirements of MSS.

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“…Camarillo et al developed a continuous manipulator based on rope drive, which has been used in medical fields such as cardiac catheters [ 6 ]. Lenny et al built a multi-section robot with a follow-the-leader motion, with which the robot reached the bronchi wall of a human lung [ 7 ]. Xu et al successfully developed a super-redundant flexible robot prototype that can operate in extreme environments such as narrow spaces and nuclear radiation environments [ 8 , 9 ].…”

Section: Introductionmentioning

confidence: 99%

Design and Experimental Study of Space Continuous Robots Applied to Space Non-Cooperative Target Capture

et al. 2021

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Space capture actuators face problems such as insufficient flexibility and electrical components that are vulnerable to extreme space environments. To address these problems, a centralized-driven flexible continuous robot based on a multiple scissor mechanism units is proposed in this study. The continuous robot body is composed of two scissor mechanism units coupled in series, and the base container’s three motors to drive the robot. The two scissor mechanism units ensure a wide range of flexible operations and the light weight of the robot. The centralized drive with three motors not only reduces the number of driving sources, but also ensures temperature control and protection of electrical components in the space environment. The kinematics and dynamics of the robot are analyzed, and the workspace and deformation performance of the robot are verified through experiments. Compared with other continuous robots, the proposed continuous robot retains the characteristics of continuous robots in a wide range of flexible operations. At the same time, the configuration is light and a small number of driving sources are used, which is suitable for extreme temperatures, vacuum, radiation, and strict resource-constrained environments in space.

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

Cited by 25 publications

References 23 publications

Visually Navigated Bronchoscopy using three cycle-Consistent generative adversarial network for depth estimation

Visually Navigated Bronchoscopy using three cycle-Consistent generative adversarial network for depth estimation

Development and validation of a two‐segment continuum robot for maxillary sinus surgery

Design and Experimental Study of Space Continuous Robots Applied to Space Non-Cooperative Target Capture

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