Fig. 7.

View of IGI system during live guided bronchoscopy for case 41 [19, 33]. a Three-dimensional airway tree rendering depicts the the airway route used for guidance (blue line), airway centerlines (red), and the target ROI (red) highlighted by a white oval. The yellow cylinder indicated by the white arrow represents the current bronchoscope tip location at bronchial generation 9. b The live bronchoscopic video feed at the current bronchoscope location fused with the MDCT-derived guidance route (blue), airway centerlines (red), and ROI (red); the bronchoscope is 22 mm from the ROI, as indicated by the IGI system. c Corresponding VB view at the current bronchoscope location. d, e Saved “Base Camp” view of the fused video-MDCT view (d) and VB view (e) from the previous generation 8 airway along the route. Reference [19] gives more system detail