Design of a Teleoperated Robotic Bronchoscopy System for Peripheral Pulmonary Lesion Biopsy

作者：Xingyu Chen, Xiaohui Xiong, Xuemiao Wang, Peng Li, Wang, Shimei, Toluwanimi Oluwadara Akinyemi, Wenke Duan, Wenjing Du, Olatunji Mumini Omisore, Lei Wang · 发表于：arXiv (Cornell University) · 年份：2023 · DOI：10.48550/arxiv.2306.09598 · 被引用次数：2 · 研究领域：Soft Robotics and Applications、Innovative Microfluidic and Catalytic Techniques Innovation、Gastrointestinal Bleeding Diagnosis and Treatment

Bronchoscopy with transbronchial biopsy is a minimally invasive and effective method for early lung cancer intervention. Robot-assisted bronchoscopy offers improved precision, spatial flexibility, and reduced risk of cross-infection. This paper introduces a novel teleoperated robotic bronchoscopy system and a three-stage procedure designed for robot-assisted bronchoscopy. The robotic mechanism enables a clinical practice similar to traditional bronchoscopy, augmented by the control of a novel variable stiffness catheter for tissue sampling. A rapid prototype of the robotic system has been fully developed and validated through in-vivo experiments. The results demonstrate the potential of the proposed robotic bronchoscopy system and variable stiffness catheter in enhancing accuracy and safety during bronchoscopy procedures.