As the robot advanced the instrument, the lesion was displaced behind the rib due to respiratory movement. The robot was able to compensate with a non-linear trajectory to successfully reach the lesion with 10-minute skin-to-target time.

PROCEDURE OVERVIEW 

Lesion was at the apex of the left lung between 1st and 2nd ribs. The angle needed to access the lesion in its current location led to a small intercostal access space.

Respiratory movement led to multiple trajectory updates during the procedure, with the lesion ultimately shifting behind a rib.

The XACT ACE® Robotic System utilized non-linear steering to compensate for the movement and reached the target.