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

Journal: International journal of computer assisted radiology and surgery
Published Date: Nov 1, 2019

Abstract

PURPOSE: Current manual catheters for transbronchial biopsy in the lung lack a steering ability, which hampers a physician's ability to reach nodules in the peripheral lung. The objective of this paper is to design and build a multisection robot with a follow-the-leader motion and compare the performance of the conventional catheter and our robotic catheter in the right main and right segmental lobar bronchus.

Authors

  • Lenny Dupourqué
    École Polytechnique Fédérale de Lausanne (EPFL), Route Cantonale, 1015, Lausanne, Switzerland.
  • Fumitaro Masaki
    National Center for Image Guided Therapy, Brigham and Women's Hospital, Harvard Medical School, 75 Francis St, Boston, MA, 02115, USA.
  • Yolonda L Colson
    Department of Surgery , Brigham and Women's Hospital , Boston , MA 02215 , USA . Email: ycolson@bwh.harvard.edu.
  • Takahisa Kato
    National Center for Image Guided Therapy, Brigham and Women's Hospital and Harvard Medical School, Boston, MA, USA.
  • Nobuhiko Hata

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