Efficacy and Safety of Robotic-assisted Bronchoscopy Combined With the ICNVA Strategy in Biopsy of Peripheral Pulmonary Nodules

"1. Preoxygenation \& Navigation Registration~2. Robotic-Guided Navigation~3. Puncture Tunnel Establishment~4. Position Verification \& Adjustment~ Perform confirmatory CT scan to assess tool-nodule relationship:~ Tool-in-lesion (TIL) : Biopsy tool penetrates nodule Center Strike : Tool tip reaches central 1/3 of nodule (coronal/sagittal/horizontal planes) Tool-touch-lesion : Tool contacts but does not enter nodule~ * 4mm deviation : Proceed to biopsy \>4mm deviation : Adjust based on operator judgment~5. Biopsy \& Rapid Evaluation Obtain tissue samples Conduct ROSE (Rapid On-Site Evaluation) to guide next steps~6. Post-Procedure Safety Check Perform postoperative CT to exclude pneumothorax/hemorrhage Maintain identical ventilation settings during imaging and biopsy phases to prevent target shift"