Abstract
In this paper, we demonstrate an innovative electromagnetic targeting system utilizing a passive magnetic-flux-concentrator for tracking endobronchoscope used in the diagnosis process of lung cancer tumors/lesions. The system consists of a magnetic-flux emitting coil, a magnetic-flux receiving electromagnets-array, and high permeability silicon-steel sheets rolled as a collar (as the passive magnetic-flux-concentrator) fixed in a guide sheath of an endobronchoscope. The emitting coil is used to produce AC magnetic-flux, which is consequently received by the receiving electromagnets-array. Due to the electromagnetic-induction, a voltage is induced in the receiving electromagnets-array. When the endobronchoscope’s guide sheath (with the silicon-steel collar) travels between the emitting coil and the receiving electromagnets-arrays, the magnetic flux is concentrated by the silicon-steel collar and thereby the induced voltage is changed. Through analyzing the voltage–pattern change, the location of the silicon–steel collar with the guide sheath is targeted. For testing, a bronchial-tree model for training medical doctors and operators is used to test our system. According to experimental results, the system is successfully verified to be able to target the endobronchoscope in the bronchial-tree model. The targeting errors on the x-, y- and z-axes are 9 mm, 10 mm, and 5 mm, respectively.
Highlights
To date, endobronchoscopy, a minimal invasive method, has been widely applied to diagnose lung cancer tumors/lesions
Once the target tumor/lesion is found, the medical doctors and operators remove the endobronchial ultrasound (EBUS) radial probe from the guide sheath and subsequently insert the biopsy forceps into the guide sheath to collect the tissue specimens of the tumors/lesions
According to the results, when the silicon-steel collar is at location E, most of the magnetic flux is concentrated by the collar location E, most of the magnetic flux is concentrated by the and the electromagnet no. 2 receives more magnetic collar and the electromagnet no. 2 receives more flux than other electromagnets
Summary
Endobronchoscopy, a minimal invasive method, has been widely applied to diagnose lung cancer tumors/lesions. By combining the standard EBUS with advanced endobronchoscopic navigation/targeting technology, we can obtain higher diagnostic yield and shorter procedure time for lung cancer tumor/lesion diagnosis [4]. Medical doctors and operators insert the EBUS radial probe with the guide sheath from the oral or nasal route to bronchus. By using the navigation/targeting system, the medical doctors and operators navigate the probe with the sheath to the most reachable distal parts of the bronchus that have tumors/lesions and subsequently find/locate the tumors/lesion by referencing the EBUS image. Once the target tumor/lesion is found, the medical doctors and operators remove the EBUS radial probe from the guide sheath and subsequently insert the biopsy forceps into the guide sheath to collect the tissue specimens of the tumors/lesions. Researchers are still searching for an accurate, complete, and time-saving navigation/targeting approach for an endobronchoscope diagnosis procedure to locate/target tumors/lesions
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