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Fig. 1 | BMC Pulmonary Medicine

Fig. 1

From: Robot-assisted bronchoscopy for pulmonary lesion diagnosis: results from the initial multicenter experience

Fig. 1

r-EBUS use to enable directional targeting of instruments. With RAB, an endoscopic view is maintained even in the smaller peripheral airways. Upper panel: the r-EBUS probe is in contact with the airway wall at the 11 o’clock position. The corresponding ultrasound image on the right shows only air artifact. Lower Panel: The r-EBUS probe is now directed to the 5 o’clock position of the airway wall and the ultrasound image reveals an eccentric view of the target lesion. An aspirating needle was oriented to penetrate the airway wall at the 5 o’clock position to obtain diagnostic tissue

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