{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,11,1]],"date-time":"2026-11-01T03:56:35Z","timestamp":1793505395394,"version":"4.5.0"},"reference-count":47,"publisher":"European Respiratory Society (ERS)","issue":"4","license":[{"start":{"date-parts":[[2024,2,29]],"date-time":"2024-02-29T00:00:00Z","timestamp":1709164800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by-nc\/4.0\/"}],"funder":[{"DOI":"10.13039\/100000098","name":"Clinical Center","doi-asserted-by":"publisher","award":["1K08CA245206"],"award-info":[{"award-number":["1K08CA245206"]}],"id":[{"id":"10.13039\/100000098","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000098","name":"Clinical Center","doi-asserted-by":"publisher","award":["P30 CA008748"],"award-info":[{"award-number":["P30 CA008748"]}],"id":[{"id":"10.13039\/100000098","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["publications.ersnet.org"],"crossmark-restriction":true},"short-container-title":["ERJ Open Res"],"accepted":{"date-parts":[[2024,2,16]]},"published-print":{"date-parts":[[2024,7]]},"abstract":"<jats:sec><jats:title>Introduction<\/jats:title><jats:p>This study aims to answer the question of whether adding mobile cone-beam computed tomography (mCBCT) imaging to shape-sensing robotic-assisted bronchoscopy (ssRAB) translates into a quantifiable improvement in the tool\u2013lesion relationship.<\/jats:p><\/jats:sec><jats:sec><jats:title>Methods<\/jats:title><jats:p>Data from 102 peripheral lung lesions with \u22652 sequential mCBCT orbital spins and from 436 lesions with 0\u20131 spins were prospectively captured and retrospectively analysed. The primary outcome was the tool\u2013lesion relationship status across the first and the last mCBCT spins. Secondary outcomes included 1) the change in distance between the tip of the sampling tool and the centre of the lesion between the first and the last spins and 2) the per-lesion diagnostic yield.<\/jats:p><\/jats:sec><jats:sec><jats:title>Results<\/jats:title><jats:p>Compared to lesions requiring 0\u20131 spins, lesions requiring \u22652 spins were smaller and had unfavourable bronchus sign and intra-operative sonographic view. On the first spin, 54 lesions (53%) were designated as non-tool-in-lesion (non-TIL) while 48 lesions (47%) were designated as TIL. Of the 54 initially non-TIL cases, 49 (90%) were converted to TIL status by the last spin. Overall, on the last spin, 96 out of 102 lesions (94%) were defined as TIL and six out of 102 lesions (6%) were defined as non-TIL (p&lt;0.0001). The mean distance between the tool and the centre of the lesion decreased from 10.4 to 6.6\u2005mm between the first and last spins (p&lt;0.0001). The overall diagnostic yield was 77%.<\/jats:p><\/jats:sec><jats:sec><jats:title>Conclusion<\/jats:title><jats:p>Targeting traditionally challenging lung lesions, intra-operative volumetric imaging allowed for the conversion of 90% of non-TIL status to TIL. Guidance with mCBCT resulted in a significant decrease in the distance between the tip of the needle to lesion centre.<\/jats:p><\/jats:sec>","DOI":"10.1183\/23120541.00993-2023","type":"journal-article","created":{"date-parts":[[2024,2,29]],"date-time":"2024-02-29T17:17:11Z","timestamp":1709227031000},"page":"00993-2023","update-policy":"https:\/\/doi.org\/10.1183\/ers-crossmark-policy","source":"Crossref","is-referenced-by-count":22,"title":["The incremental contribution of mobile cone-beam computed tomography to the tool\u2013lesion relationship during shape-sensing robotic-assisted bronchoscopy"],"prefix":"10.1183","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9462-7477","authenticated-orcid":false,"given":"Bryan 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