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Updated: Aug 8, 2025
Author Spotlight: Learning Systematic Bronchoscopy in a Simulation-Base Setting
Published on: June 23, 2023
Measurement Systems for Use in the Navigation of the Cannula-Guide Assembly within the Deep Regions of the Bronchial
Tomasz Nabagło1, Zbisław Tabor1, Piotr Augustyniak1
1Faculty of Electrical Engineering, Automatics, Computer Science and Biomedical Engineering, AGH University of Science and Technology, 30-059 Krakow, Poland.
Background:
The purpose of this paper is to present the spatial navigation system prototype for localizing the distal tip of the cannula-guide assembly. This assembly is shifted through the channel of a bronchoscope, which is fixed in relation to the patient. The navigation is carried out in the bronchial tree, based on maneuvers of the aforementioned assembly.
Methods:
The system consists of three devices mounted on the guide handle and at the entrance to the bronchoscope working channel. The devices record the following values: cannula displacement, rotation of the guide handle, and displacement of the handle ring associated with the bending of the distal tip of the guide.
Results:
In laboratory experiments, we demonstrate that the cannula displacement can be monitored with an accuracy of 2 mm, and the angles of rotation and bending of the guide tip with an accuracy of 10 and 20 degrees, respectively, which outperforms the accuracy of currently used methods of bronchoscopy support.
Conclusions:
This accuracy is crucial to ensure that we collect the material for histopathological examination from a precisely defined place. It makes it possible to reach cancer cells at their very early stage.
