Fig. 5.

If a new sample added to the RRT is located inside the piercing region P (grey), it is considered the start pose of a candidate needle path ρ_needle (dark green). The sample is extended to a piercing tube path ρ_tube (cyan). If this path pierces into the airways (beige) and reaches the bronchoscope region B (yellow) with a piercing angle θ < θ_tube, a bronchoscope plan ρ_bronch (blue) is constructed. In this case, a full three-stage plan was found.