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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. 4.

Fig. 4

(a) Puncturing of the bronchial wall in ex vivo porcine lung using the puncture mechanism. The puncture needle was positioned against a sample of ex vivo porcine bronchial wall before firing the puncture needle. (b) Detailed view of the puncture mechanism.