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Table 3 Procedural characteristics (n = 60 subjects)

From: Shape-sensing robotic-assisted bronchoscopy for pulmonary nodules: initial multicenter experience using the Ion™ Endoluminal System

Variable Result
Duration, median min (IQR)
 Navigation planning 10.0 (5.0, 15.0)
 Procedure (scope in to scope out) 66.5 (50.0, 85.5)
 Registration 8.5 (5.0, 14.0)
 Navigation to 1st nodule 5.0 (3.0, 10.0)
 Biopsy completion 31.5 (25, 46.5)
Lymph node staging performed, n (%) 47 (78.3)
PlanPoint path used, n (%) 54 (93.1)
Time to 1st rEBUS visualization, min (IQR) 8.00 (4.0, 13.5)
Catheter positions, n (IQR) 4.0 (2.0, 7.0)
Tool passes, median n (IQR) 13.0 (8.0, 15.0)
Tools used, n (%)a,b  
 Needlec 58 (100)
 Forceps 40 (69)
 Brush 28 (48.3)
  1. IQR interquartile range
  2. aTools used out of 58 completed procedures; 2 subjects with early termination not included
  3. bMore than one tool may have been used per case
  4. cSystem-specific Flexision needle