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Fig. 2 | BMC Pulmonary Medicine

Fig. 2

From: Shape-sensing robotic-assisted bronchoscopy for pulmonary nodules: initial multicenter experience using the Ion™ Endoluminal System

Fig. 2

Procedural screenshot from one case. Top monitor screens: virtual airway view showing catheter within airway tree; blue ball represents target; green subway view at bottom shows the progress of the catheter to the target; drive force displayed on the right. Bottom monitor screens: (upper left) virtual target with target view; (bottom left) integrated EBUS view; (center) fluoroscopy view of catheter with tool extension; (right side) informational screen displaying distance to virtual target, anatomy borders, orientation guide, and catheter tip bend radius

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