Poster V15 - Design and Technical Feasibility Testing of a Medical Robot for Flexible Catheter Navigation Inside the Lung Airways

Introduction: In recent years, the integration of robotics into pulmonary diagnostics has significantly advanced, particularly in the context of lung cancer biopsies, where precision and minimally invasive techniques are paramount. Traditional lung biopsy methods, though effective, carry inherent risks and limitations such as potential complications and the need for precise navigation through the complex bronchial pathways. The development of the RoboCath system aims to address these challenges by providing a novel robotic platform designed for the adaptable navigation of flexible catheters through lung airways. This system not only promises enhanced precision and safety but also integrates seamlessly with existing medical devices, offering a streamlined, cost-effective solution with reduced reliance on X-ray imaging, thus minimizing radiation exposure. The RoboCath represents a significant advancement in medical robotics, potentially transforming the approach to lung lesion biopsy and diagnosis.

Materials and

Methods: In the development and testing of the RoboCath system, we employed a two-part design integrating a reusable robotic component and a single-use, sterile catheter mechanism. The reusable component contains electronic motors and control boards encased within a sterilizable bag, ensuring operation in sterile conditions. The single-use component consists of a pre-mounted catheter and a gear mechanism for precise rotational and translational movements of a guide wire within the lung airways, critical for targeting peripheral lung nodules. Utilization of the RoboCath was evaluated using a bronchoscopy setup, with navigation aided by an electromagnetic tracking system and visualized through a custom software interface. This setup enabled the precise placement of catheters within the lung's complex bronchial pathways without reliance on invasive imaging techniques such as fluoroscopy, thus reducing radiation exposure. The entire system was designed with a focus on cost-effectiveness and manufacturability, employing 3D printing technology with micro carbon fiber-filled nylon material to streamline production and minimize costs. This innovative approach aimed to enhance the precision and safety of lung biopsies, offering significant improvements over traditional methods and existing robotic technologies.

Results, Conclusions, and Discussions: The results from our study confirm the technical feasibility of the RoboCath system in navigating guidewires to targeted locations within the bronchial tree using a sophisticated bronchoscopy simulator. Our approach successfully demonstrated the robot's ability to manipulate the catheter and guide wire precisely to peripheral lung lesions, as outlined in the pre-planned navigation pathways. Importantly, the use of electromagnetic tracking and the integration of our custom navigation software enabled accurate positioning without the need for fluoroscopic guidance, significantly reducing radiation exposure. Additionally, the design of the RoboCath, emphasizing cost-effectiveness and adaptability through the use of 3D printing technology, holds promise for enhancing the accessibility and efficiency of pulmonary interventions. Further clinical validation could facilitate broader adoption in healthcare settings, potentially transforming the landscape of interventional pulmonology. Future studies will focus on optimizing the system’s design and expanding its applications to ensure it can meet the diverse needs of clinical practice.

Acknowledgements (Optional): The research leading to these results has received funding from Norwegian Financial Mechanism 2014-2021 under the project RO-NO-2019-0138, 19/2020 “Improving Cancer Diagnostics in Flexible Endoscopy using Artificial Intelligence and Medical Robotics” IDEAR, Contract No. 19/2020.