Figure 3.

Example videobronchoscope and EBUS views constituting the multimodal EBUS bronchoscope. (Top) bronchoscopic video sources for the real EBUS bronchoscope and virtual device. (Bottom) corresponding fan-shaped EBUS views, ${\mathbf{I}}_{\mathrm{US}}$ and ${\mathbf{I}}_{\mathrm{CT}}$, for the real and virtual devices, respectively. For virtual EBUS view ${\mathbf{I}}_{\mathrm{CT}}$, the blue lines demarcate the EBUS FOV, the magenta line indicates the video camera’s viewing direction ${\mathbf{n}}_C$, and the green region denotes a lymph node predefined in the chest CT scan. In this figure, the videobronchoscope and EBUS view pairs are not at the same site. In addition, both view pairs are registered.