Transbronchial Biopsy Assisted by Robot Guidance in the Evaluation of Tumors of the Lung

Inclusion Criteria

• Over 21 years of age;
• Capable and willing to give informed consent;
• Acceptable candidate for an elective, non-emergent bronchoscopic procedure;
• Lung lesions, 8 mm to 50 mm in size, requiring bronchoscopic diagnosis which were identified on thin slice CT scan within 28 days of the intended bronchoscopy

Exclusion Criteria

• Medical contraindication to bronchoscopy as assessed by the investigator
• Presence of uncorrectable bleeding disorders
• Medical devices interfering with electro-magnetic navigation, including but not limited to pacemaker
• Patients with the target lesion having endobronchial involvement seen on chest CT
• Lack fitness to undergo flexible bronchoscopy as determined by the bronchoscopist prior to procedure,
• Participation in any other clinical trial within 30 days of enrollment that would interfere with this study;
• Uncontrolled or irreversible coagulopathy;
• Female subjects who are pregnant or nursing at the time of the procedure or those of child-bearing potential refusing a pregnancy test prior to the procedure;
• CT scan done greater than 28 days before the bronchoscopy procedure.