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 bronch

SUBMITTER: Duan X 

PROVIDER: S-EPMC10026825 | biostudies-literature | 2023

REPOSITORIES: biostudies-literature