Bronchoscopic Navigation Robot-guided Dye Marking-assisted Thoracoscopic Pulmonary Nodule Resection

Inclusion Criteria:

• Aged 18-80 years, regardless of gender;

• Peripheral pulmonary nodules, planned for single lesion non-anatomical sublobarresection via thoracoscopic assistance after preoperative discussion;

• Preoperative assessment indicates that the pulmonary nodules cannot be localizedthrough visual inspection or palpation;

• Patients are able to understand the purpose of the trial, have good compliance withexaminations and follow-ups, and voluntarily participate in the clinical trial bysigning an informed consent form.

Exclusion Criteria:

Patients who meet any of the following criteria will be excluded from this study:

• Surgical contraindications that do not meet surgical tolerance standards: fulfillingone major criterion and/or two or more minor criteria.

Major criterion: Forced expiratory volume in 1 second (FEV1) or carbon monoxide diffusion capacity (DLCO) ≤ 50%.

Minor criterion: (1) FEV1 or DLCO 51%-60%; (2) Age ≥ 75 years; (3) Pulmonary hypertension > 40 mmHg (1 mmHg = 0.133 kPa); (4) Left ventricular ejection fraction (LVEF) ≤ 40%; (5) Arterial blood partial pressure of oxygen (PaO2) < 55 mmHg or arterial blood oxygen saturation (SpO2) ≤ 88% with arterial blood partial pressure of carbon dioxide (PaCO2) > 45 mmHg.

• Contraindications for bronchoscopy, including: active massive hemoptysis; recentmyocardial infarction or unstable angina; severe hypertension and arrhythmias;uncorrectable bleeding tendencies (such as severe coagulopathy, uremia, and severepulmonary hypertension, etc.); severe superior vena cava syndrome; suspected aorticaneurysm; multiple pulmonary bullae; extremely poor overall condition;

• Female patients who are breastfeeding, pregnant, or trying to conceive;

• Patients with electromagnetic active implantable devices;

• Participants allergic to indocyanine green or anesthetics; or with a history ofmultiple severe allergies or hereditary allergies;

• Participation in drug clinical trials in the past 3 months, or currentlyparticipating, or participation in other medical device clinical trials within thepast 30 days;

• Other conditions deemed unsuitable for participation in this clinical trial by theinvestigator.