Fig. 2.

Steps involved in the ICG VAL-MAP procedure. a, b Before the bronchoscopic procedure, lung mapping was planned and a virtual bronchoscopic navigation image was created using Synapse Vincent. c X-ray fluoroscopy confirmed the tip of the catheter (surrounded by a white-dotted circle) reached the pleura. d ICG and IC dyes were injected into the targeted bronchus. e The post-VAL-MAP chest CT image shows the location of the lesion (surrounded by a white-dotted circle) and the actual marking (surrounded by a black-dotted circle). f Three-dimensional image of post-VAL-MAP chest CT was reconstructed for surgery