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. Author manuscript; available in PMC: 2021 Jan 1.
Published in final edited form as: Ann Biomed Eng. 2019 Jul 24;48(1):181–191. doi: 10.1007/s10439-019-02325-x

Figure 2:

Figure 2:

Robotic system for CAO resection: (a) an image of the robot, where the inset shows the needle-sized, robotically-controlled tool manipulators extending out from the bronchoscope, (b) conceptual rendering of the operating room for robot-assisted bronchoscopy (top), and a conceptual rendering of a robotic CAO removal (bottom).