Skip to main content
. Author manuscript; available in PMC: 2015 Jul 6.
Published in final edited form as: IEEE Int Conf Robot Autom. 2015 May;2015:5378–5383. doi: 10.1109/ICRA.2015.7139950

Fig. 1.

Fig. 1

(a) Our combined bronchoscope, concentric tube robot, and bevel steered needle robot, (b) closeup of bevel tip, (c) steps in deployment involve: (1) deploying the bronchoscope (2) deploying the concentric-tube robot to the bronchial wall, puncturing through it, and entering the parenchyma, and (3) steering the bevel-tip needle to the target under closed-loop control.