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Author Spotlight: Learning Systematic Bronchoscopy in a Simulation-Base Setting

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Published on: June 23, 2023

A Real-Time, Semi-Autonomous Navigation Platform for Soft Robotic Bronchoscopy.

Daniel Van Lewen¹, Yitong Lu¹, Frank Juliá-Wise¹

¹Authors are with the Department of Mechanical Engineering, Boston University, Boston, MA 02215 (USA).

IEEE Robotics and Automation Letters

|September 19, 2025

Summary

This study introduces a novel soft robotic platform for enhanced bronchoscopy, enabling precise navigation into peripheral lung airways. The system achieves accurate targeting of small lung branches, improving lesion diagnosis capabilities.

Keywords:

Medical Robots and Systems Soft Robot Applications Surgical Robotics: Steerable Catheters/Needles

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Area of Science:

Medical Robotics
Minimally Invasive Surgery
Biomedical Engineering

Background:

Diagnosing peripheral lung lesions via traditional bronchoscopy is challenging due to limitations in navigating narrow airways.
Soft continuum robots offer potential advantages in scale, dexterity, and adaptability for improved bronchoscopic procedures.

Purpose of the Study:

To develop and validate a real-time, semi-autonomous navigation platform for peripheral lung bronchoscopy.
To utilize a soft continuum robot for enhanced maneuverability and precision in navigating complex lung structures.

Main Methods:

A 2.5 mm outer diameter soft continuum robot was integrated with a UR5e robot arm for precise insertion and manipulation.
Closed-loop feedback was achieved using on-board visualization and electromagnetic tracking.
A YOLO-based computer vision algorithm and a driving algorithm guided the robot along preplanned paths toward target branches.

Main Results:

The platform demonstrated sufficient robot tip dexterity and workspace for navigating peripheral lung airways.
Successful navigation into 6th generation lung branches and out of an in-vitro lung phantom was achieved.
The system reached the lung periphery with an average targeting error of 1.1 mm.

Conclusions:

The proposed soft robotic navigation platform enables accurate and deep access into peripheral lung airways.
This technology holds significant potential for improving the diagnosis and treatment of peripheral lung lesions through advanced bronchoscopy.