The Effectiveness and Safety of Electromagnetic Navigation Real-time Guided Percutaneous Lung Biopsy

Inclusion Criteria: * Age 18-80 years old * Imaging examination showed peripheral lung lesions * Selected patients need to complete routine preoperative examinations such as blood routine examination, coagulation function, electrocardiogram, chest CT, etc * There is no contraindication for puncture biopsy * Good compliance, able to cooperate with research and observation * Fully informed of the purpose and method of the study, agreed to participate in the study, and signed the informed consent form Exclusion Criteria: * Severe cardiopulmonary insufficiency, extreme weakness and intolerance of patients * The patient is allergic to lidocaine and midazolam * The site to be biopsied has a high risk of bleeding such as bronchial artery penetration or suspected lung metastasis of renal cancer * Unstable angina pectoris, congestive heart failure, severe bronchial asthma * The patient did not agree to participate in the study * Participation in other studies within three months without withdrawal or termination will affect the observation of this study * The researcher believes that there is any person who is not suitable for the selection