Case Study

Right Lung Apex Lesion

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The XACT ACE Robot was able to compensate for significant respiratory and target movement with its non-linear steering to successfully reach the lesion with 1.1mm tip-to-target accuracy without the need for needle retraction and repositioning.


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

Respiratory movement led to 3 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 with 1.1mm tip-to-target accuracy.

Procedure Type: Biopsy
Location of Lesion: Lung
Tip-to-Target Accuracy:1.1 mm
Skin-to-Target Time:18 minutes
Trajectory Length:104.4 mm
Size of Lesion:1 cm
Patient Position: Supine
Procedure Setting: Private Practice