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. Author manuscript; available in PMC: 2017 Aug 17.
Published in final edited form as: IEEE Trans Biomed Eng. 2015 Feb 6;62(12):2794–2811. doi: 10.1109/TBME.2015.2401514

Fig. 4.

Fig. 4

Demonstration of the first complete rotate/flex/advance maneuver per Algorithm 2 (case B—see Table I). (a) System GUI display in preparation for the first rotation. (b) Display after completing the rotation. Endoluminal viewer labeled “1.)” indicates the state of this tool after invoking the “rotate” foot-switch command, while the panel labeled “2.)” shows the tool’s state after the physician rotates the bronchoscope as instructed. The views of the other two tools do not change during this maneuver. (c) System GUI state after invoking the “advance” foot-switch command—instructions appear for performing the required flex-advance command.