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. Author manuscript; available in PMC: 2016 Sep 1.
Published in final edited form as: Rep U S. 2015 Sep-Oct;2015:3255–3261. doi: 10.1109/IROS.2015.7353829

Fig. 3.

Fig. 3

Accessing goals in the right lung, the bronchoscope utilizes different branches in the bronchial tree: the upper right branch (left images) for one goal and the lower right branch (right images) for another goal. Top to bottom show the same paths from different angles and with different transparencies for visualization.