Airway Registration Approach and Other Determinants of Procedure Efficiency During Shape-Sensing Robotic-Assisted Bronchoscopy

During ssRAB, partial airway registration improves efficiency of the presampling portion of the procedure without sacrificing primary nodule localization and diagnostic yield. Nodule features are important determinants of overall procedure efficiency. The effect of the partial strategy on secondary nodules is unclear. The influence of registration approach on CT-body divergence warrants further study.