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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. 5.

Fig. 5

Positions from which the bronchoscope can safely deploy the latter stages of the system without puncturing the pulmonary pleura are shown in cyan. These positions can be reached via the airways shown in purple.