気管支末梢への到達を目指したTwin-wire式カテーテル

-第2報：気管支の分岐形状の分類とその推進方法-

抄録

To automatically guide bioforceps to the target bronchus periphery, we propose a small-diameter catheter drive system that can reliably select and advance bifurcations. In this paper, based on the local driving system presented in the previous report, we illustrate a driving method strategy according to the shape of the bronchi. First, we show the configuration of the Twin-wire structure that assists bending and propulsion by controlling the relative positions. Next, we classify bronchial bifurcation shapes into three types, and show the existence of different entry methods according to each shape. Finally, the effectiveness of the proposed method is verified by an insertion experiment using a bronchus model.