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. 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. 2.

Fig. 2

The components of the three-stage steering system developed in this work are shown. The system includes a (a) magnetic tracking system, (b) tendon-actuated flexible bronchoscope, (c) concentric tube robot, (d) steerable needle, (e) an actuation unit, and a (f) puncture mechanism.