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The proposed lung targeting workflow is demonstrated. First, (a),(b) the endoscope is inserted through the phantom bronchial tube to the puncture site. Then, (c) the concentric tube robot delivers the needle tip to the bronchial wall and (d) punctures through the wall. Finally, (e), the concentric tube robot is deployed to aim the steerable needle toward the target, after which the bevel steered needle is deployed (see Fig. 7).
