Semi-automatic guidance of a biopsy catheter to peripheral airways targets using a novel robotic and computer navigation system

Abstract

During lung cancer screening, suspected nodules are detected using computed tomography. Although most nodules are benign, a tissue diagnostic is still required. Currently, all diagnostic procedures that use image-guided tools expose both the patient and the medical doctor to damaging X-ray radiation. The present study describes the development of a novel robotic and electromagnetic tracking navigation system to guide a catheter in the peripheral airways and made of a navigation software and a patent pending robotic system, EndoRoTM that inserts and guides the catheter semi-automatically to reach a specific target in the airways without the need of CT or fluoroscopy scanning. The preliminary tests on a benchtop airway model showed that the novel robotic system allows navigation through the bronchial tree, in both manual manipulation with a joystick and semi-automatic computer manipulation without fluoroscopy scanning. Overall, the new robotic system will allow a more precise guidance of the biopsy catheters to targets located in the peripheral airways, will reduce injury, and improve the clinical outcomes in early cancer diagnosis and treatment.