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Fig. 3 | BMC Pulmonary Medicine

Fig. 3

From: Robotic assisted-bronchoscopy: technical tips and lessons learned from the initial experience with sampling peripheral lung lesions

Fig. 3

Manually (in yellow) and automatically (in green) generated pathways to a peripheral nodule in RB8 (anterior basal segment of the right lower lobe). The two pathways overlap in the large central airways (left panel) but clearly diverge in 5th generation airway (middle panel). The bronchoscopist must decide which pathway to follow first. In our practice, we follow the manually generated pathway and confirm it with REBUS once at target. If the nodule is not seen on REBUS, the scope is pulled back and the automatically generated pathway is then followed. The right panel shows the nodule biopsied in this case (a 15.8 X 15.7 mm nodule in RB8) REBUS: radial probe ultrasound

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