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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. 6.

Fig. 6

The experimental setup used for the phantom validation study consisted of a phantom bronchial tree (made from plastic tubes) that was embedded in phantom parenchyma (gelatin).