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| Main Authors: | , , , , , , , , , |
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| Format: | Preprint |
| Published: |
2023
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2306.09598 |
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| _version_ | 1866910342601244672 |
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| author | Chen, Xing-Yu Xiong, Xiaohui Wang, Xuemiao Li, Peng Wang, Shimei Akinyemi, Toluwanimi Duan, Wenke Du, Wenjing Omisore, Olatunji Wang, Lei |
| author_facet | Chen, Xing-Yu Xiong, Xiaohui Wang, Xuemiao Li, Peng Wang, Shimei Akinyemi, Toluwanimi Duan, Wenke Du, Wenjing Omisore, Olatunji Wang, Lei |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2306_09598 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Design of a Teleoperated Robotic Bronchoscopy System for Peripheral Pulmonary Lesion Biopsy Chen, Xing-Yu Xiong, Xiaohui Wang, Xuemiao Li, Peng Wang, Shimei Akinyemi, Toluwanimi Duan, Wenke Du, Wenjing Omisore, Olatunji Wang, Lei Medical Physics 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. |
| title | Design of a Teleoperated Robotic Bronchoscopy System for Peripheral Pulmonary Lesion Biopsy |
| topic | Medical Physics |
| url | https://arxiv.org/abs/2306.09598 |